Cooperative Control Based on Absolute Positional Information of Grasped Object in Multiple Mobile Manipulators

Toshiharu Sugawara, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper describes a control strategy to realize grasping and cooperative motion in multiple mobile manipulators. In the general approach, the stable grasping motion is well realized, but the emergent motion such as the obstacle avoidance motion, and the collision avoidance motion among the robots are not taken into accountin the cooperative motion of multiple mobile manipulators. In the practical application, however, the above issue is important to realize an adaptive and sophisticated motion. The proposed approach introduces the null space motion based on the grasping matrix and the absolute position of target object in the grasping motion of the manipulator. In this case, each motion of mobile manipulator is given independently of the grasping and the cooperative motion, and the emergent motion is determined arbitrary. This is one of the remarkable features of the proposed strategy. Several numerical and experimental results show the validity of the proposed approach.

Original languageEnglish
Pages (from-to)689-695
Number of pages7
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2003 Sept 1


  • grasping and carrying task
  • multiple mobile manipulators
  • null space
  • potential method

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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