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Article: 複数ロボットを用いた車両搬送システムiCART (第2報,分散協調搬送アルゴリズム)

Title複数ロボットを用いた車両搬送システムiCART (第2報,分散協調搬送アルゴリズム)
A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)
Authors
Endo, MitsuruKosuge, KazuhiroHirose, KenjiHirata, YasuhisaSugahara, YusukeSuzuki, KokiKanbayashi, Takashi
KeywordsCar transportation system
Multiple robot coordination
Distributed control
Issue Date2010
Citation
日本機械学会論文集Ｃ編, 2010, v. 76, n. 761, p. 103-109 How to Cite?
DOI: http://dx.doi.org/10.1299/kikaic.76.103
Transactions of the Japan Society of Mechanical Engineers, Part C, 2010, v. 76, n. 761, p. 103-109 How to Cite?
DOI: http://dx.doi.org/10.1299/kikaic.76.103
AbstractWe proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.
Persistent Identifierhttp://hdl.handle.net/10722/302846
ISSN
0387-5024
2019 SCImago Journal Rankings: 0.104

 

DC FieldValueLanguage
dc.contributor.authorEndo, Mitsuru-
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorHirose, Kenji-
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorSugahara, Yusuke-
dc.contributor.authorSuzuki, Koki-
dc.contributor.authorKanbayashi, Takashi-
dc.date.accessioned2021-09-07T08:42:41Z-
dc.date.available2021-09-07T08:42:41Z-
dc.date.issued2010-
dc.identifier.citation日本機械学会論文集Ｃ編, 2010, v. 76, n. 761, p. 103-109-
dc.identifier.citationTransactions of the Japan Society of Mechanical Engineers, Part C, 2010, v. 76, n. 761, p. 103-109-
dc.identifier.issn0387-5024-
dc.identifier.urihttp://hdl.handle.net/10722/302846-
dc.description.abstractWe proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.-
dc.languagejpn-
dc.relation.ispartof日本機械学会論文集Ｃ編-
dc.relation.ispartofTransactions of the Japan Society of Mechanical Engineers, Part C-
dc.subjectCar transportation system-
dc.subjectMultiple robot coordination-
dc.subjectDistributed control-
dc.title複数ロボットを用いた車両搬送システムiCART (第2報,分散協調搬送アルゴリズム)-
dc.titleA car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)-
dc.typeArticle-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1299/kikaic.76.103-
dc.identifier.scopuseid_2-s2.0-77950330564-
dc.identifier.volume76-
dc.identifier.issue761-
dc.identifier.spage103-
dc.identifier.epage109-

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