A coordinated transport robot system according to an embodiment includes: first and second robots each including a mobile unit and a movement control unit; first and second position error absorption mechanisms provided on the first and second robots; an impedance model estimating an external force from the amount of displacement detected by the passive element unit; an external force estimating unit estimating respective external forces acting on the first and second robots based on external forces estimated with a dynamics model and estimated by the impedance model; a compliance model calculating respective position correction amounts of the first and second robots to make an external force zero; and a movement command calculating unit calculating movement commands to the first and second robots based on the position correction amounts. Each of the movement control units control the respective mobile units based on the respective movement commands.


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    Titel :

    Coordinated transport robot system


    Beteiligte:
    OOGA JUNICHIRO (Autor:in) / OGAWA HIDEKI (Autor:in)

    Erscheinungsdatum :

    19.04.2016


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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    Agapakis, J. E. / Katz, J. M. / Wall, M. R. et al. | British Library Conference Proceedings | 1990


    MULTI-AGENT COORDINATED OMNIDIRECTIONAL MOBILE INTELLIGENT ROBOT SYSTEM

    CHEN TAO / DONG LIGANG / ZHANG JUNHUI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Coordinated Control of Multiple Robot Manipulators

    Kalaycioglu, S. / Necsulescu, D. S. / Defence Research Establishment Suffield | British Library Conference Proceedings | 1991