Robust Cooperative Transport System with Model Error Compensator Using Multiple Robots with Suction Cups

In cooperative transport systems, multiple robots work together to transport objects that are difficult to transport with a single robot. In recent years, multirobot systems that cooperate to transport objects have been researched. However, during the transfer of objects, misalignment occurs between the ideal and actual grasp positions. In an automatic transport system, a grasping error can cause an error in the trajectory of the object, significantly reducing the transport efficiency. In this paper, a control system that allows robust cooperative transport control using a model error compensator is proposed for a leader-follower system in which the transported object is the virtual leader and the followers are ideally arranged. This system adds robustness to the operation of a conventional cooperative transport system by using the ideal formation of robots. The effectiveness of the proposed method was evaluated through cooperative transport experiments using two ideal formations for passing through a narrow entrance. The cooperative transport using the conventional method; however, the system using the compensator passed through the narrow entrance smoothly.