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JRM Vol.20 No.3 pp. 394-402
doi: 10.20965/jrm.2008.p0394
(2008)

Paper:

Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors

Yohei Kume, Yasuhisa Hirata, and Kazuhiro Kosuge

Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan

Received:
September 16, 2007
Accepted:
January 31, 2008
Published:
June 20, 2008
Keywords:
multiple mobile manipulators, coordinated control, sensorless control
Abstract

The coordinated control algorithm for multiple mobile manipulators without force/torque sensors handling a single object in coordination controls individual mobile manipulators as if the grasping point has impedance dynamics by using the real manipulator’s dynamics. Mobile manipulators handle the object in coordination using the leader-follower control algorithm we propose, based on impedance dynamics. After discussing the effect of parameter error and how to reduce it, we confirm the proposed control algorithm’s feasibility in experiments using two mobile manipulators.

Cite this article as:
Yohei Kume, Yasuhisa Hirata, and Kazuhiro Kosuge, “Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors,” J. Robot. Mechatron., Vol.20, No.3, pp. 394-402, 2008.
Data files:
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