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Article: 仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング
| Title | 仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング Handling of an object by multiple mobile manipulators with virtual 3-D caster dynamics in cooperation with a human |
|---|---|
| Authors | |
| Keywords | Robot Coordinated motion control Virtual caster-like dynamics Motion control Moving robot |
| Issue Date | 2003 |
| Citation | 日本機械学会論文集Ｃ編, 2003, v. 69, n. 687, p. 2895-2901 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 687, p. 2895-2901 How to Cite? |
| Abstract | In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/302725 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kume, Youhei | - |
| dc.contributor.author | Wang, Zhi Dong | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:28Z | - |
| dc.date.available | 2021-09-07T08:42:28Z | - |
| dc.date.issued | 2003 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2003, v. 69, n. 687, p. 2895-2901 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 687, p. 2895-2901 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302725 | - |
| dc.description.abstract | In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithm. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Robot | - |
| dc.subject | Coordinated motion control | - |
| dc.subject | Virtual caster-like dynamics | - |
| dc.subject | Motion control | - |
| dc.subject | Moving robot | - |
| dc.title | 仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング | - |
| dc.title | Handling of an object by multiple mobile manipulators with virtual 3-D caster dynamics in cooperation with a human | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.69.2895 | - |
| dc.identifier.scopus | eid_2-s2.0-0742268952 | - |
| dc.identifier.volume | 69 | - |
| dc.identifier.issue | 687 | - |
| dc.identifier.spage | 2895 | - |
| dc.identifier.epage | 2901 | - |