Decentralized cooperation between multiple manipulators

Author

Khatib, O. ; Yokoi, K. ; Chang, K. ; Ruspini, D. ; Holmberg, R. ; Casal, A.

Author_Institution

Dept. of Comput. Sci., Stanford Univ., CA, USA

fYear

1996

fDate

11-14 Nov 1996

Firstpage

183

Lastpage

188

Abstract

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford University for the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. We present the extension of these methodologies to mobile manipulation systems and propose a new decentralized control structure for cooperative tasks. The article also discusses experimental results obtained with two holonomic mobile manipulation platforms we have designed and constructed at Stanford University

Keywords

cooperative systems; decentralised control; manipulator dynamics; mobile robots; Stanford University; construction; cooperative tasks; decentralized control; decentralized cooperation; holonomic mobile manipulation platforms; mobile manipulation; multiple manipulators; service environments; space; underwater; End effectors; Equations; Force control; Gravity; Jacobian matrices; Kinetic energy; Manipulator dynamics; Marine vehicles; Motion control; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Communication, 1996., 5th IEEE International Workshop on

Conference_Location

Tsukuba

Print_ISBN

0-7803-3253-9

Type

conf

DOI

10.1109/ROMAN.1996.568810

Filename

568810