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Article: 複数移動ロボットによる大型物体協調ハンドリング
| Title | 複数移動ロボットによる大型物体協調ハンドリング Handling of a Large Object using Multiple Mobile Robots in Coordination |
|---|---|
| Authors | |
| Keywords | Robot Handling Large Object Motion Control Moving Robot Sensor Coordinated Motion Control |
| Issue Date | 2001 |
| Citation | 日本機械学会論文集Ｃ編, 2001, v. 67, n. 656, p. 1077-1084 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2001, v. 67, n. 656, p. 1077-1084 How to Cite? |
| Abstract | In this paper, we discuss an issue relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of sensor noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm. © 2001, The Japan Society of Mechanical Engineers. All rights reserved. |
| Persistent Identifier | http://hdl.handle.net/10722/302810 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Asama, Hajime | - |
| dc.contributor.author | Kaetsu, Hayato | - |
| dc.contributor.author | Kawabata, Kuniaki | - |
| dc.date.accessioned | 2021-09-07T08:42:37Z | - |
| dc.date.available | 2021-09-07T08:42:37Z | - |
| dc.date.issued | 2001 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2001, v. 67, n. 656, p. 1077-1084 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2001, v. 67, n. 656, p. 1077-1084 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302810 | - |
| dc.description.abstract | In this paper, we discuss an issue relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of sensor noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm. © 2001, The Japan Society of Mechanical Engineers. All rights reserved. | - |
| 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 | Handling | - |
| dc.subject | Large Object | - |
| dc.subject | Motion Control | - |
| dc.subject | Moving Robot | - |
| dc.subject | Sensor | - |
| dc.subject | Coordinated Motion Control | - |
| dc.title | 複数移動ロボットによる大型物体協調ハンドリング | - |
| dc.title | Handling of a Large Object using Multiple Mobile Robots in Coordination | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.67.1077 | - |
| dc.identifier.scopus | eid_2-s2.0-49249117048 | - |
| dc.identifier.volume | 67 | - |
| dc.identifier.issue | 656 | - |
| dc.identifier.spage | 1077 | - |
| dc.identifier.epage | 1084 | - |