複数移動ロボットによる大型物体協調ハンドリング : 機械力学,計測,自動制御

In this paper, we discuss an issue relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of sensor noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to multiple omni-directional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.