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Distributed Autonomous Robotic Systems 8 pp 315–324Cite as

Distributed Control and Coordination of Cooperative Mobile Manipulator Systems

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Abstract

The paper deals with the problem of suitably coordinating the movement of two mobile manipulators in order to accomplish a given task in a cooperative way, avoiding the arms’ singular postures and joint limits. A dynamic programming approach is used for accomplishing such avoidance specifications.

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References

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Author information

Authors and Affiliations

  1. DIST, University of Genoa, Via Opera Pia 13, Genoa, Italy

    Enrico Simetti, Alessio Turetta & Giuseppe Casalino

Authors
  1. Enrico Simetti
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  2. Alessio Turetta
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  3. Giuseppe Casalino
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Editor information

Editors and Affiliations

  1. RACE (Research into Artifacts, Center for Engineering), The University of Tokyo, Kashiwanoha 5-1-5, 277-8568, Kashiwa-shi, Chiba, Japan

    Hajime Asama

  2. Distributed System Design Research Group, National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, 305-8564, Ibaraki, Japan

    Haruhisa Kurokawa

  3. Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Tokyo, Japan

    Jun Ota

  4. Department of Micro-Nano Systems Engineering, Nagoya University, 464-8603, Nagoya, Japan

    Kosuke Sekiyama

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© 2009 Springer-Verlag Berlin Heidelberg

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Simetti, E., Turetta, A., Casalino, G. (2009). Distributed Control and Coordination of Cooperative Mobile Manipulator Systems. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_28

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  • DOI: https://doi.org/10.1007/978-3-642-00644-9_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00643-2

  • Online ISBN: 978-3-642-00644-9

  • eBook Packages: EngineeringEngineering (R0)

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