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    • 9. 发明申请
    • COORDINATED TRANSPORT ROBOT SYSTEM
    • 协调运输机器人系统
    • US20150142249A1
    • 2015-05-21
    • US14522973
    • 2014-10-24
    • KABUSHIKI KAISHA TOSHIBA
    • Junichiro OOGAHideki OGAWA
    • B60P3/40
    • B66F9/07577B66F9/063Y10S901/01
    • A coordinated transport robot system according to an embodiment includes: first and second robots each including a mobile unit and a movement control unit; first and second position error absorption mechanisms provided on the first and second robots; an impedance model estimating an external force from the amount of displacement detected by the passive element unit; an external force estimating unit estimating respective external forces acting on the first and second robots based on external forces estimated with a dynamics model and estimated by the impedance model; a compliance model calculating respective position correction amounts of the first and second robots to make an external force zero; and a movement command calculating unit calculating movement commands to the first and second robots based on the position correction amounts. Each of the movement control units control the respective mobile units based on the respective movement commands.
    • 根据实施例的协调传送机器人系统包括:第一和第二机器人,每个包括移动单元和移动控制单元; 设置在第一和第二机器人上的第一和第二位置误差吸收机构; 阻抗模型,从由无源元件单元检测到的位移量估计外力; 外力估计单元,基于通过动力学模型估计出的外力并估计出由阻抗模型估计的各个外力来估计作用在第一和第二机器人上的各个外力; 计算第一和第二机器人的相应位置校正量以使外部力为零的顺应性模型; 以及移动指令计算单元,基于位置校正量来计算向第一和第二机器人的移动指令。 每个移动控制单元基于相应的移动命令控制各个移动单元。