抄録
In this paper, we propose a motion planning method for manipulation of an object by multiple mobile robots. In the previous cooperative works by multiple mobile robots, manipulation technique based on force-control has been proposed. However, mobile robots are moving by position-control, and motion errors can often arise. Then, we build the manipulation technique, which is suitable for mobile robots by position-control. We propose the manipulation method without using sensor information, and consider the motion errors of mobile robots and the indefinite element of environment from the planning stage. We compute the contact position to the object where the object is stable. And the order of operation is generated from the result of these analyses. After that, we compute the sticks' paths and each robot's motion by considering the limitation of robot motion. We verify the effectiveness of our proposed method through simulations.
