Handling of a Single Object by Multiple Mobile Manipulators in Cooperation with Human Based on Virtual 3-D Caster Dynamics

Abstract

In this paper, we propose a decentralized motion control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In the proposed control algorithm, the grasping point of the 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 coordinated motion control algorithm between the manipulator and the mobile base for each mobile manipulator is designed. By using these motion control algorithms, the coordination among multiple mobile manipulators is realized without using the geometric relations among robots. The proposed control algorithms are experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithms.