Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors

Author

Kume, You Hei ; Hirata, Yasuhisa ; Kosuge, Kazuhiro ; Asama, Hajime ; Kaetsu, Hayato ; Kawabata, Kuniaki

Author_Institution

Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

2001

fDate

2001

Firstpage

3004

Abstract

We propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

Keywords

control system synthesis; decentralised control; materials handling; matrix algebra; mobile robots; motion control; multi-robot systems; parameter estimation; robot dynamics; decentralized control; impedance dynamics; leader-follower type control algorithm; multiple mobile robots; parameter identification errors; Control systems; Distributed control; Force control; Force sensors; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Sensor systems; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933078

Filename

933078