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Cooperative transport system and method with multiple robots with a gripping mechanism having a play-slip
Cooperative transport system and method with multiple robots with a gripping mechanism having a play-slip
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机译：具有多个机器人的协作式运输系统和方法，该机器人具有带有游隙的抓取机构
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摘要
PROBLEM TO BE SOLVED: To provide cooperative carrying, even if backlash and slip exist in a holding part of a leader and a follower being a connecting part of the leader and an object to be carried, and of the object to be carried and the follower.;SOLUTION: In this cooperation carrier system, the follower 20 estimates and outputs a track of the leader 10 from a follower estimation error when slip and backlash do not exist in the holding part (a hook 14), and performs an operation to output a track to stop the leader 10 when slip and backlash exist. From a microscopic view, a track to advance and a track to stop by following the movement of the leader 10 are repeated. From a macroscopic view, a track to follow the leader 10 is obtained.;COPYRIGHT: (C)2007,JPO&INPIT
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