| Title: | GS7-6 A Number of Mobile Manipulator Control for Moving an Object by using Cooperative Control |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 312-315 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS7-6 |
| Author(s): | Deok-Su Kim, Dong-Eon Kim, Seong-Ik Han, Jang-Myung Lee |
| Publication Date: | January 29, 2016 |
| Keywords: | Cooperative Control, Kinematics, Mobile Manipulator, Master-Slave |
| Abstract: | In this paper, we propose a method of cooperative control of a three mobile manipulator for moving an object. These robots go to desired position independently by using encoder data and inverse kinematics and after arriving in the position, they grasp and lift the object. For the carrying operation, the lifting operation is implemented by using the manipulator mounted on the top of the mobile robots cooperatively. In this system, master-slave mode is used for finding each position of robots and for coordinative control among the robots. During the moving operation, a trajectory planning has been kept constantly. The real cooperative carrying motions was implemented to check the possibility of the master-slave mode control based on the mobile manipulator's kinematics. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS7-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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