Abstract
In recent years, there has been concern over labor shortages. Robots are being introduced for transportation and other tasks. When robots are used in the environment with humans, it is desirable that the size is small and the output is relatively small from a viewpoint of safety. However, in the case of using one robot, there is a limit to the transport capacity. To address this issue, this paper describes the cooperative control of two mobile robots to realize the transportation ability that cannot be achieved by one robot. In the cooperative control, external force detection from the environment is important to enhance the adaptability of the robot. In the previous studies, force sensor was used for each robot, and it was possible to transport even when an external force is applied to the robot. However, the cost increases as the number of robots used increases. Therefore, this paper proposes compliance control that enables transport with reduced force fluctuation without external force sensor. Position control and sensorless force control are assigned to each robot, and when an external force is applied to sensorless force control robot, the control method is switched between the robots to realize the fluctuation suppression of the grasping force.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Tuci, E., Alkilabi, M.H., Akanyeti, O.: Cooperative object transport in multi-robot systems: a review of the state-of-the-art. Front. Robot. AI 5, 59 (2018)
Kosuge, K., Oosumi, T.: Decentralized control of multiple robots handling an object. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1996, vol. 1, pp. 318–323. IEEE, Osaka (1996)
Kashiwazaki, K., Yonezawa, N., Kosuge, K., Sugahara, Y., Hirata, Y., Endo, M., Kanbayashi, T., Shinozuka, H., Suzuki, K., Ono, Y.: A car transportation system in cooperation by multiple mobile robots for each wheel: iCART II. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, vol. 48, no. 7, pp. 389–398 (2011)
Hirata, Y., Kosuge, K., Asama, H., Kaetsu, H., Kawabata, K.: Transportation of a single object by multiple distributed robot helpers with caster-like dynamics (DR helpers) in cooperation with a human. J. Robot. Soc. Jpn 21, 776–784 (2003)
Ohnishi, K.: Robust motion control by disturbance observer. J. Robot. Soc. Jpn 11(4), 486–493 (1993)
Murakami, T., Yu, F., Ohnishi, K.: Torque sensorless control in multidegree-of-freedom manipulator. IEEE Trans. Ind. Electron. 40(2), 259–265 (1993)
Ott, C., Mukherjee, R., Nakamura, Y.: Unified impedance and admittance control. In: 2010 IEEE International Conference on Robotics and Automation, pp. 554–561. IEEE (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Science Press
About this paper
Cite this paper
Tatsumi, S., Murakami, T. (2020). Compliance Control During Cooperative Transport Using Multiple Mobile Robots. In: Duan, B., Umeda, K., Hwang, W. (eds) Proceedings of the Seventh Asia International Symposium on Mechatronics. Lecture Notes in Electrical Engineering, vol 588. Springer, Singapore. https://doi.org/10.1007/978-981-32-9437-0_80
Download citation
DOI: https://doi.org/10.1007/978-981-32-9437-0_80
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9436-3
Online ISBN: 978-981-32-9437-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)