Decentralized control of multiple mobile manipulators handling a single object in coordination
Youhei Kume, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge · 2003
In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.