Control of Load Distribution Based on Environmental Information for Formation Control of Multiple Mobile Robots

Kazuharu Tsuji, Toshiyuki Murakami

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

In this paper we focus on cooperative transportation by multiple mobile robots. During the transportation, each robot has a load that is influenced by a state of a carrying object and road surface. This paper proposes a method of deciding a grasping position of each robot to equalize the loads based on environmental information estimated by Reaction Torque Observer. Then it is expected that each robot is prevented from becoming overload and stable transportation is realized. Simulation and experimental results show the validity of the proposed method.

Original languageEnglish
Pages (from-to)767-773
Number of pages7
JournalIEEJ Transactions on Industry Applications
Volume124
Issue number8
DOIs
Publication statusPublished - 2004 Sep 1

Fingerprint

Mobile robots
Robots
Loads (forces)
Torque

Keywords

  • cooperative transportation
  • environmental information
  • grasping position
  • multiple mobile robots

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Control of Load Distribution Based on Environmental Information for Formation Control of Multiple Mobile Robots. / Tsuji, Kazuharu; Murakami, Toshiyuki.

In: IEEJ Transactions on Industry Applications, Vol. 124, No. 8, 01.09.2004, p. 767-773.

Research output: Contribution to journalArticle

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