Load distribution control for cooperative transportation by multiple mobile robots

Kazuharu Tsuji, Toshiyuki Murakami

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

This paper addresses the theme of cooperative transportation by multiple mobile robots. There are some cases where robots are in overload by the influence of environment and the trajectory of a carrying object. In such cases the transportation becomes unstable. Thus, in this paper, the control system to prevent this problem is proposed. The proposed system consists of three control layers and the information on the system's load condition is transmitted among these layers. Based on this, the means for realizing stable transportation are performed. The system can be applied when there is various number and capability of robots. The validity of the proposed control method is checked by the simulation.

Original languageEnglish
Pages249-252
Number of pages4
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Tsuji, K., & Murakami, T. (2004). Load distribution control for cooperative transportation by multiple mobile robots. 249-252. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.