Cooperative-manipulation scheme of routh-hurwitz type for simultaneous repetitive motion planning of two-manipulator robotic systems

Zhang, Yunong; Zou, Maotai; Xiao, Huinan; Wen, Jianfeng; Wang, Ying

doi:10.1109/ccdc.2016.7531779

Cited by 4 publications

(2 citation statements)

References 16 publications

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“…On the other hand, decentralized control usually depends on either explicit communication or off-line knowledge of the desired object trajectory, e.g., [23,24]. Furthermore, position-force hybrid control schemes, where the position of the object is controlled towards a given direction in the workspace and the internal forces on the object are controlled close to the origin are presented in [25][26][27]. Moreover, in other leader-follower schemes, e.g., [28,29], the leader has to transmit on-line the desired object trajectory to the follower.…”

Section: Related Workmentioning

confidence: 99%

Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition

2022

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In this work, we consider the autonomous object transportation problem employing a team of mobile manipulators within a compact planar workspace with obstacles. As the object is allowed to translate and rotate and each robot is equipped with a manipulator consisting of one or more moving links, the overall system (object and mobile manipulators) should adapt its shape in a flexible way so that it fulfills the transportation task with safety. To this end, we built a sequence of configuration space cells, each of which defines an allowable set of configurations of the object, as well as explicit intervals for each manipulator’s states. Furthermore, appropriately designed under- and over-approximations of the free configuration space are used in an innovative way to guide the configuration space’s exploration without loss of completeness. In addition, we coupled methodologies based on Reference Governors and Prescribed Performance Control with harmonic maps, in order to design a distributed control law for implementing the transitions specified by the high-level planner, which possesses guaranteed invariance and global convergence properties, thus avoiding the requirement for synchronized motion as inherently dictated by the majority of the related works. Furthermore, the proposed low-level control law does not require continuous information exchange between the robots, which rely only on measurements of the object’s configuration and their own states. Finally, a transportation scenario within a complex warehouse workspace demonstrates the proposed approach and verifies its efficiency.

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Section: Related Workmentioning

confidence: 99%

Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition

2022

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“…On the other hand, decentralized control usually depends on either explicit communication or off-line knowledge of the desired object trajectory, (e.g., Khatib et al, 1996;Dickson et al, 1997;Liu et al, 1996). Furthermore, position-force hybrid control schemes, where the position of the object is controlled toward a given direction in the workspace and the internal forces on the object are controlled close to the origin are presented in Zhang et al (2016), Petitti et al (2016), and Noohi and Zefran (2016). Moreover, in other leader-follower schemes (e.g., Luh and Zheng, 1987;Sugar and Kumar, 1998), the leader has to transmit on-line the desired object trajectory to the follower.…”

Section: Introductionmentioning

confidence: 99%

Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication

Bechlioulis

Kyriakopoulos

2018

Front. Robot. AI

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This paper addresses the problem of cooperative object transportation in a constrained workspace involving static obstacles, with the coordination relying on implicit communication established via the commonly grasped object. In particular, we consider a decentralized leader-follower architecture for multiple mobile manipulators, where the leading robot, which has exclusive knowledge of both the object's desired configuration and the position of the obstacles in the workspace, tries to navigate the overall formation to the desired configuration while at the same time it avoids collisions with the obstacles. On the other hand, the followers estimate the object's desired trajectory profile via novel prescribed performance estimation laws that drive the estimation errors to an arbitrarily small predefined residual set. Moreover, a navigation function-based scheme is innovatively combined with adaptive control to deal with parametric uncertainty. Hence, the current state of the art in robust motion planning and collision avoidance is extended by studying second order non-linear dynamics with parametric uncertainty. Furthermore, the feedback relies exclusively on each robot's force/torque, position as well as velocity measurements and no explicit information is exchanged online among the robots, thus reducing the required communication bandwidth and increasing robustness. Finally, two simulation studies clarify the proposed methodology and verify its efficiency.

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Mobile Manipulators for Cooperative Transportation of Objects in Common

Ortiz

Varela-Aldás

Andaluz

2017

Towards Autonomous Robotic Systems

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Cooperative-manipulation scheme of routh-hurwitz type for simultaneous repetitive motion planning of two-manipulator robotic systems

Cited by 4 publications

References 16 publications

Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition

Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition

Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication

Mobile Manipulators for Cooperative Transportation of Objects in Common

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