1A2-A01 台車部のサスペンション特性を利用した複数の全方向移動マニピュレータによる協調搬送(複数ロボットの協調制御)

抄録

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.