The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
Session ID : 1A2-A01
Conference information
1A2-A01 Cooperative Transportation by Omni Directional Mobile Manipulators Considering Suspension Characteristics of Platforms(Cooperation Control of Multi Robots)
Masumi NISHIMURA, Ryo OTA, Hisashi OSUMI, Yusuke TAMURA
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Keywords: suspension, compliance, mobile manipulator, omni-directional, cooperative theory, transportation
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Abstract
Cooperative transportation by multiple mobile manipulators is required for transporting large and heavy objects. However the internal forces generated in transporting object caused by positioning errors of platforms are the problem. The problem can be solved if robots have a compliance mechanism. In this paper, a method of using suspensions installed in mobile platform as a compliance mechanism is proposed.
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© 2013 The Japan Society of Mechanical Engineers
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