We propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators referred to as DR HelperII and experimental results illustrate the validity of the proposed control algorithm.

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

We propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.