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Position Control of Load by Traction of Two Mobile Robots

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Distributed Autonomous Robotic Systems 5

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Abstract

This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.

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References

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Author information

Authors and Affiliations

  1. Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo, 192-0982, Japan

    Hiroshi Hashimoto, Shinya Nakagawa & Naoki Amano

  2. Ashikaga Institute of Technology, 268-1 Omae, Ashikaga Tochigi, 326-8558, Japan

    Chiharu Ishii

Authors
  1. Hiroshi Hashimoto
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  2. Shinya Nakagawa
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  3. Naoki Amano
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  4. Chiharu Ishii
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Hashimoto, H., Nakagawa, S., Amano, N., Ishii, C. (2002). Position Control of Load by Traction of Two Mobile Robots. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_14

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_14

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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