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Multirobots and cooperative systems

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Control Problems in Robotics and Automation

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 230))

Abstract

Multiple robots executing a task on an object form a complex mechanical system that has been a target of enthusiastic research in the field of robotics and control for a decade. The chapter presents the state of the art of multirobots and cooperative systems and discusses control issues related to the topic. Kinematics and dynamics of the system is to clarify a framework for control and will give an answer to the question: what is the cooperation of the multiple robots? Different control schemes such as hybrid position/force control, load-sharing control, etc., may be designed in the framework. The chapter presents and discusses those control schemes, and briefs examples of real systems that are being studied in the author's laboratory. The examples include a couple of advanced systems such as a robot with two flexible-arms and a system consisting of many simple cooperative robots.

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Authors and Affiliations

  1. Department of Aeronautics and Space Engineering, Tohoku University, Japan

    Masaru Uchiyama

Authors
  1. Masaru Uchiyama
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Editor information

Bruno Siciliano Kimon P. Valavanis

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© 1998 Springer-Verlag London Limited

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Uchiyama, M. (1998). Multirobots and cooperative systems. In: Siciliano, B., Valavanis, K.P. (eds) Control Problems in Robotics and Automation. Lecture Notes in Control and Information Sciences, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0015074

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  • DOI: https://doi.org/10.1007/BFb0015074

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76220-1

  • Online ISBN: 978-3-540-40913-7

  • eBook Packages: Springer Book Archive

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