ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-V02
会議情報
2P1-V02 受動関節機構を用いた3台の全方向移動マニピュレータの協調搬送制御
太田 諒森田 一樹田村 雄介大隅 久
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会議録・要旨集 フリー

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抄録

In this study, a passive joint mechanism is attached to the hand of each manipulator to prevent the generation of the internal forces during cooperative transportation by multiple mobile manipulators. The mechanism enables cooperative transportation by position control. However the loads for each manipulator changes according to the grasping pose by the characteristics of the mechanism. In this paper, first, we propose a method of transportation considering the characteristics of the mechanism. Then, we verify the effectiveness of the proposed method by experiments.

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© 2015 一般社団法人 日本機械学会
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