The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Cooperative Control of Mobile Robot for Carrying Object

물체 운반을 위한 다수 로봇의 협조제어

  • Jeong, Hee-In (Department of Electrical and Computer Engineering, Pusan National University) ;
  • Hoang, Nhat-Minh (Department of Electrical and Computer Engineering, Pusan National University) ;
  • Woo, Chang-Jun (Department of Electrical and Computer Engineering, Pusan National University) ;
  • Lee, Jangmyung (Electronic Engineering, Pusan National University)
  • Received : 2014.12.20
  • Accepted : 2015.04.15
  • Published : 2015.08.31
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Abstract

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

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References

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