1997年
複数ロボットによる共同作業法の開発:機能モジュールと直進搬送制御
計測自動制御学会論文集
- ,
- ,
- 巻
- 33
- 号
- 7
- 開始ページ
- 693
- 終了ページ
- 700
- DOI
- 10.9746/sicetr1965.33.693
- 出版者・発行元
- The Society of Instrument and Control Engineers
This paper proposes an architecture for realizing cooperative work by a multiple robots system. Cooperative work is regarded as being performed by a set of dynamic units called functional modules. A functional module is defined by nine objects, i.e., a data acquisition object, a data analysis object, an environmental information object, a communication object, a control object, a total managing object, and three database objects. Roles of these objects are described. The architecture is applied to a practical two mobile robots system performing box pushing in a cooperative way. A single mobile robot is a single functional module and the function of each object of the module in this particular work is explained. Experimental results are shown with discussion.
- リンク情報
- ID情報
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- DOI : 10.9746/sicetr1965.33.693
- ISSN : 0453-4654
- CiNii Articles ID : 130003791265