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

Yohei Kume; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.20965/jrm.2008.p0394

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JRM Vol.20 No.3 pp. 394-402

doi: 10.20965/jrm.2008.p0394

(2008)

Paper:

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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:

Y. Kume, Y. Hirata, and K. 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:

References

[1] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, and A. Baader, “Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems,” Robotics Research 7, The Seventh International Symposium, pp. 333-342, 1996.
[2] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Decentralized Cooperation of Multiple Mobile Manipulators,” Proc. of 5th IEEE Int. Workshop on Robot and Human Communication, 1996.
[3] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Coordination and Decentralized Cooperation of Multiple Mobile Manipulators,” Journal of Robotic Systems, pp. 755-764, 1996.
[4] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 546-553, 1996.
[5] O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal, “Robots in Human Environments: Basic Autonomous Capabilities,” Int. Journal of Robotics Research, pp. 684-696, 1999.
[6] T. Sugar, J. Desai, V. Kumar, and J. Ostrowski, “Coordination of Multiple Mobile Manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3022-3027, 2001.
[7] T. Sugar and V. Kumar, “Control of Cooperating Mobile Manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 94-103, 2002.
[8] S. Furuno, M. Yamamoto, and A. Mohri, “Trajectory Planning of Cooperative Multiple Mobile Manipulators,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 136-141, 2003.
[9] X. Chen and Y. Li, “Cooperative Transportation by Multiple Mobile Manipulators Using Adaptive NN Control,” Proc. of IEEE Int. Conf. on Neural Networks, pp. 4193-4200, 2006.
[10] Y. Hirata, Y. Kume, Z.Wang, and K. Kosuge, “Handling of a Single Object by Multiple Mobile Manipulators in Cooperation with Human Based on Virtual 3-D Caster Dynamics,” JSME International Journal Series C 48(4), pp. 613-619, 2005.
[11] K. Kosuge and T. Oosumi, “Decentralized Control of Multiple Robots Handling an Object,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp. 318-323, 1996.
[12] K. Kosuge, T. Oosumi, and K. Chiba, “Load Sharing of Decentralized-Control Multiple Mobile Robots Handling a Single Object,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3373-3378, 1997.
[13] K. Kosuge, S. Hashimoto, and K. Takeo, “Coordinated Motion Control of Multiple Robots Manipulating a Large Object,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208-213, 1997.
[14] K. Kosuge, Y. Hirata, H. Asama, H. Kaetsu, and K. Kawabata, “Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Cooperation,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 2666-2673, 1999.
[15] Y. Kume, Y. Hirata, K. Kosuge, H. Asama, H. Kaetsu, and K. Kawabata, “Decentralized Control of Multiple Mobile Robots Transporting a Single Object in Coordination without Using Force/Torque Sensors,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3004-3009, 2001.
[16] Y. Kume, Y. Hirata, Z. Wang, and K. Kosuge, “Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2758-2763, 2002.
[17] S. Tachi, T. Sakaki, H. Arai, S. Nishizawa, and J. Pelaez-polo, “Impedance Control of a Direct Drive Manipulator without Using Force Sensors,” Journal of the Robots Society of Japan, pp. 60-72, 1989.
[18] Y. Yamamoto and X. Yun, “Modeling and Compensation of the Dynamic Interaction of a Mobile Manipulator,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 2187-2192, 1994.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, and A. Baader, “Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems,” Robotics Research 7, The Seventh International Symposium, pp. 333-342, 1996.

[2] [2] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Decentralized Cooperation of Multiple Mobile Manipulators,” Proc. of 5th IEEE Int. Workshop on Robot and Human Communication, 1996.

[3] [3] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Coordination and Decentralized Cooperation of Multiple Mobile Manipulators,” Journal of Robotic Systems, pp. 755-764, 1996.

[4] [4] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 546-553, 1996.

[5] [5] O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal, “Robots in Human Environments: Basic Autonomous Capabilities,” Int. Journal of Robotics Research, pp. 684-696, 1999.

[6] [6] T. Sugar, J. Desai, V. Kumar, and J. Ostrowski, “Coordination of Multiple Mobile Manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3022-3027, 2001.

[7] [7] T. Sugar and V. Kumar, “Control of Cooperating Mobile Manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 94-103, 2002.

[8] [8] S. Furuno, M. Yamamoto, and A. Mohri, “Trajectory Planning of Cooperative Multiple Mobile Manipulators,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 136-141, 2003.

[9] [9] X. Chen and Y. Li, “Cooperative Transportation by Multiple Mobile Manipulators Using Adaptive NN Control,” Proc. of IEEE Int. Conf. on Neural Networks, pp. 4193-4200, 2006.

[10] [10] Y. Hirata, Y. Kume, Z.Wang, and K. Kosuge, “Handling of a Single Object by Multiple Mobile Manipulators in Cooperation with Human Based on Virtual 3-D Caster Dynamics,” JSME International Journal Series C 48(4), pp. 613-619, 2005.

[11] [11] K. Kosuge and T. Oosumi, “Decentralized Control of Multiple Robots Handling an Object,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp. 318-323, 1996.

[12] [12] K. Kosuge, T. Oosumi, and K. Chiba, “Load Sharing of Decentralized-Control Multiple Mobile Robots Handling a Single Object,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3373-3378, 1997.

[13] [13] K. Kosuge, S. Hashimoto, and K. Takeo, “Coordinated Motion Control of Multiple Robots Manipulating a Large Object,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208-213, 1997.

[14] [14] K. Kosuge, Y. Hirata, H. Asama, H. Kaetsu, and K. Kawabata, “Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Cooperation,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 2666-2673, 1999.

[15] [15] Y. Kume, Y. Hirata, K. Kosuge, H. Asama, H. Kaetsu, and K. Kawabata, “Decentralized Control of Multiple Mobile Robots Transporting a Single Object in Coordination without Using Force/Torque Sensors,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 3004-3009, 2001.

[16] [16] Y. Kume, Y. Hirata, Z. Wang, and K. Kosuge, “Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2758-2763, 2002.

[17] [17] S. Tachi, T. Sakaki, H. Arai, S. Nishizawa, and J. Pelaez-polo, “Impedance Control of a Direct Drive Manipulator without Using Force Sensors,” Journal of the Robots Society of Japan, pp. 60-72, 1989.

[18] [18] Y. Yamamoto and X. Yun, “Modeling and Compensation of the Dynamic Interaction of a Mobile Manipulator,” Proc. of IEEE Int. Conf. on Robotics and Automations, pp. 2187-2192, 1994.