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Position Control of Load by Traction of Two Mobile Robots

  • Hiroshi Hashimoto
  • Shinya Nakagawa
  • Naoki Amano
  • Chiharu Ishii
Conference paper

Abstract

This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.

Keywords

Mobile Robot Advance Direction Traction Force Reference Trajectory Relative Angle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Hiroshi Hashimoto
    • 1
  • Shinya Nakagawa
    • 1
  • Naoki Amano
    • 1
  • Chiharu Ishii
    • 2
  1. 1.Tokyo University of TechnologyHachioji, TokyoJapan
  2. 2.Ashikaga Institute of TechnologyAshikaga TochigiJapan

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