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Conference Paper: Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

TitleCalibration of coordinate system for decentralized coordinated motion control of multiple manipulators
Authors
Kosuge, K.Seki, H.Oosumi, T.
Issue Date1998
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1998, v. 4_1998, p. 3297-3302 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.1998.680947
AbstractWe propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.
Persistent Identifierhttp://hdl.handle.net/10722/302687
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorKosuge, K.-
dc.contributor.authorSeki, H.-
dc.contributor.authorOosumi, T.-
dc.date.accessioned2021-09-07T08:42:24Z-
dc.date.available2021-09-07T08:42:24Z-
dc.date.issued1998-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1998, v. 4_1998, p. 3297-3302-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302687-
dc.description.abstractWe propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleCalibration of coordinate system for decentralized coordinated motion control of multiple manipulators-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.1998.680947-
dc.identifier.scopuseid_2-s2.0-0031644174-
dc.identifier.volume4_1998-
dc.identifier.spage3297-
dc.identifier.epage3302-

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