ステートマシンによるフォーメーション変更を伴う協調搬送システムの状態制御

抄録

Recently, cooperative transport systems using multiple robots have been attracting attention. Multiple robots can flexibly form a formation according to the task, and the robots can cooperate to efficiently transport the object. Cooperative transport with formation change consists of 5 tasks: (1)grasping the object to be transported, (2)transporting, (3)releasing, (4)changing the formation, and (5)grasping a new object to be transported. The formation is changed with the appropriate sequence and timing of these actions. In this paper, we develop a control system using state machine for cooperative transport by using a formation change of robots, a grasping/releasing for the objects and robust transportation proposed in previous studies. A sequence of operations for a cooperative transport system is managed by the state machine with 5 tasks. In the experiment, the state machine is configured using smach, and the effectiveness of the system is evaluated using an experiment of the cooperative transport with formation change.