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- Publisher Website: 10.1109/IROS.2007.4399070
- Scopus: eid_2-s2.0-51349120131
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Conference Paper: Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors
| Title | Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors |
|---|---|
| Authors | |
| Issue Date | 2007 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 2007, p. 4077-4082 How to Cite? |
| Abstract | In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm. ©2007 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302816 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kume, Yohei | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:38Z | - |
| dc.date.available | 2021-09-07T08:42:38Z | - |
| dc.date.issued | 2007 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2007, p. 4077-4082 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302816 | - |
| dc.description.abstract | In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm. ©2007 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.2007.4399070 | - |
| dc.identifier.scopus | eid_2-s2.0-51349120131 | - |
| dc.identifier.spage | 4077 | - |
| dc.identifier.epage | 4082 | - |