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Article: 複数協調ロボットを用いた車両搬送システムiCART (第3報,車両搬送ロボットの軌道生成)
Title | 複数協調ロボットを用いた車両搬送システムiCART (第3報,車両搬送ロボットの軌道生成) A car transportation system using multiple coordinated robots: ICART (3rd report, trajectory generation for robots) |
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Authors | |
Keywords | Car transportation system Multiple robot coordination Trajectory generation |
Issue Date | 2010 |
Citation | 日本機械学会論文集C編, 2010, v. 76, n. 763, p. 627-634 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2010, v. 76, n. 763, p. 627-634 How to Cite? |
Abstract | We propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method. |
Persistent Identifier | http://hdl.handle.net/10722/302850 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
DC Field | Value | Language |
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dc.contributor.author | Endo, Mitsuru | - |
dc.contributor.author | Hirose, Kenji | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Suzuki, Koki | - |
dc.contributor.author | Murakami, Kazunori | - |
dc.contributor.author | Nakamura, Kenichi | - |
dc.contributor.author | Nakanishi, Masaki | - |
dc.contributor.author | Kanbayashi, Takashi | - |
dc.date.accessioned | 2021-09-07T08:42:42Z | - |
dc.date.available | 2021-09-07T08:42:42Z | - |
dc.date.issued | 2010 | - |
dc.identifier.citation | 日本機械学会論文集C編, 2010, v. 76, n. 763, p. 627-634 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2010, v. 76, n. 763, p. 627-634 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302850 | - |
dc.description.abstract | We propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method. | - |
dc.language | jpn | - |
dc.relation.ispartof | 日本機械学会論文集C編 | - |
dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
dc.subject | Car transportation system | - |
dc.subject | Multiple robot coordination | - |
dc.subject | Trajectory generation | - |
dc.title | 複数協調ロボットを用いた車両搬送システムiCART (第3報,車両搬送ロボットの軌道生成) | - |
dc.title | A car transportation system using multiple coordinated robots: ICART (3rd report, trajectory generation for robots) | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.76.627 | - |
dc.identifier.scopus | eid_2-s2.0-77953655000 | - |
dc.identifier.volume | 76 | - |
dc.identifier.issue | 763 | - |
dc.identifier.spage | 627 | - |
dc.identifier.epage | 634 | - |