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Control Method for a Wide Object Manipulation for a Team of Collaborative Robots Traveling in Rails

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Proceedings of 10th International Conference on Mechatronics and Control Engineering (ICMCE 2021)

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Abstract

Multirobot systems are used in operations where a single robot is not capable. In this paper, a team of multirobot system is used to transport an object which the carried object is much larger than a single robot can carry. To transport the oversized object smoothly, control and communication between robots is crucial for smooth object manipulation. In this application, the robots move linearly along rails. The different position between robots was measured by using an incremental encoder attached at a support point on the robot to measure the angle between robots. A control feedback method was implement using P control to eliminate the relative position between the master and slave robot. Through experiments, it has been shown that the slave robot can follow the master robot with relative positioning error less than 4 cm, or less than 5° of misalignment.

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Correspondence to Surat Kwanmuang .

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Tirasaran, J., Kwanmuang, S. (2023). Control Method for a Wide Object Manipulation for a Team of Collaborative Robots Traveling in Rails. In: Conte, G., Sename, O. (eds) Proceedings of 10th International Conference on Mechatronics and Control Engineering . ICMCE 2021. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-1540-6_13

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  • DOI: https://doi.org/10.1007/978-981-19-1540-6_13

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-1539-0

  • Online ISBN: 978-981-19-1540-6

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