COOPERATION CARRIER SYSTEM AND METHOD BY PLURALITY OF ROBOTS HAVING HOLDING MECHANISM HAVING BACKLASH AND SLIP

COOPERATION CARRIER SYSTEM AND METHOD BY PLURALITY OF ROBOTS HAVING HOLDING MECHANISM HAVING BACKLASH AND SLIP

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 f...

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Bibliographische Detailangaben
Hauptverfasser: KOSUGE KAZUHIRO, FUJII MASAKAZU, INAMURA WATARU
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Zusammenfassung: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