DocumentCode
3123934
Title
Motion planning of cooperative nonholonomic mobile manipulators
Author
Albaric, Jérome ; Zapata, René
Author_Institution
LIRMM, Univ. Montpellier II, France
Volume
6
fYear
2002
fDate
6-9 Oct. 2002
Abstract
We deal with the cooperation problem of two nonholomic mobile manipulators. We propose a leader-follower architecture for implementing robot coordination and a control algorithm for motion planning and force control. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and an extension to the mobile manipulator tasks is detailed.
Keywords
cooperative systems; force control; manipulators; mobile robots; path planning; DVZ principle; Deformable Virtual Zone; cooperation problem; cooperative nonholonomic mobile manipulator; force control; leader-follower architecture; motion planning; reflex action theory; robot coordination; Arm; Control systems; Force control; Manipulators; Mobile robots; Motion control; Motion planning; Robot kinematics; Robot sensing systems; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2002 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7437-1
Type
conf
DOI
10.1109/ICSMC.2002.1175608
Filename
1175608
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