Title :
Traction control of load by distributed force of two mobile robots
Author :
Hashimoto, Hiroshi ; Amano, Naoki ; Ishii, Chiharu
Author_Institution :
Fac. of Eng., Tokyo Univ. of Technol., Japan
Abstract :
This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.
Keywords :
force control; mobile robots; multi-robot systems; position control; three-term control; traction; PID controller; cooperative traction work; distributed force; force division methods; load; mobile robots; position control; reference trajectory tracking; traction control; virtual traction force vector; Force control; Friction; Gravity; Mobile robots; Position control; Robot kinematics; Three-term control; Trajectory; Uniform resource locators;
Conference_Titel :
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN :
0-7803-7474-6
DOI :
10.1109/IECON.2002.1185510
