SICE Division Conference Program and Abstracts
SICE System Integration Division Annual Conference 2002
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Host: The Society of Instrument and Control Engineers, System Integration Division

Decentralized Motion Control by Mobile Robots with Dual Manipulators for Manipulating an Object
Takuro Sawada, Yasuhisa Hirata, Zhi-Dong Wang, Kazuhiro Kosuge
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Pages 48

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Abstract

In this paper, we propose a decentralized motion control algorithm of mobile robots with dual manipulators for manipulating an object. In this algorithm, the representative point of each robot is controlled as if it had a caster-like dynamics in 3D space so that robots can manipulate the object without a geometric relation between the robots. Validity of this algorithm is illustrated by experiments.

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© 2002 SICE
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