Title :
Multiple cooperating mobile manipulators
Author :
Sugar, Thomas ; Kumar, Vijay
Author_Institution :
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
The main goal of the paper is to present a framework and basic control algorithms for coordinating a small team of robots in tasks that involve grasping large objects and transporting them in a two-dimensional environment with obstacles. Each robot consists of a mobile platform and an arm. Some arms are passive while others are active. Our previous work (1998) addressed the manipulator design, the architecture, and the communication between robots. In this paper we address the control of the manipulators, the coordination between the platforms for a team of two or three cooperating robots, and the handling of flexible large objects
Keywords :
cooperative systems; force control; manipulators; materials handling; mobile robots; motion control; multi-robot systems; path planning; robot kinematics; basic control algorithms; flexible large objects; grasping; multiple cooperating mobile manipulators; obstacles; platforms; two-dimensional environment; Arm; Communication system control; Control systems; Force control; Manipulators; Materials handling; Mobile communication; Mobile robots; Robot kinematics; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772578
