Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies

In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in <inline-formula><tex-math notation="LaTeX">\text{SE}(3)</tex-math></inline-formula>. The robots do not know the mass or friction properties of...

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Vydáno v:IEEE transactions on robotics Ročník 37; číslo 6; s. 1906 - 1920
Hlavní autoři: Culbertson, Preston, Slotine, Jean-Jacques, Schwager, Mac
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.12.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Adaptive control
Algorithms
Centroids
Collaborative work
Communication
Controllers
Cooperative manipulators
distributed robot systems
Initial conditions
Manipulators
Multi-robot systems
multirobot systems
Rigid structures
Robots
Robust control
robust/adaptive control of robotic systems
Trajectory
Trajectory analysis
ISSN:1552-3098, 1941-0468
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Shrnutí:In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in <inline-formula><tex-math notation="LaTeX">\text{SE}(3)</tex-math></inline-formula>. The robots do not know the mass or friction properties of the object, or where they are attached to the object. They can, however, access a common state measurement, either from one robot broadcasting its measurements to the team, or by all robots communicating and averaging their state measurements to estimate the state of their centroid. To solve this problem, we propose a decentralized adaptive control scheme wherein each agent maintains and adapts its own estimate of the object parameters in order to track a reference trajectory. We present an analysis of the controller's behavior, and show that all closed-loop signals remain bounded, and that the system trajectory will almost always (except for initial conditions on a set of measure zero) converge to the desired trajectory. We study the proposed controller's performance using numerical simulations of a manipulation task in 3-D, as well as hardware experiments which demonstrate our algorithm on a planar manipulation task. These studies, taken together, demonstrate the effectiveness of the proposed controller even in the presence of numerous unmodeled effects, such as discretization errors and complex frictional interactions.
Bibliografie:ObjectType-Article-1
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2021.3072021