Distributed Control for Cooperative Manipulation With Event-Triggered Communication

Cooperative manipulation tasks can be divided into the subtasks of object trajectory tracking and grasp maintenance. Both subtasks typically pose individual requirements on the underlying control objective in terms of accuracy and robustness to disturbances. In this article, we propose a novel distr...

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Vydáno v:IEEE transactions on robotics Ročník 36; číslo 4; s. 1038 - 1052
Hlavní autoři: Dohmann, Pablo Budde gen, Hirche, Sandra
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.08.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Communication
Cooperative control
Cooperative manipulators
Decentralized control
distributed robot systems
Force
Impedance
Manipulator dynamics
multirobot systems
networked robots
Task analysis
Unknown environments
ISSN:1552-3098, 1941-0468
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Shrnutí:Cooperative manipulation tasks can be divided into the subtasks of object trajectory tracking and grasp maintenance. Both subtasks typically pose individual requirements on the underlying control objective in terms of accuracy and robustness to disturbances. In this article, we propose a novel distributed impedance control scheme, resulting in a flexible control design to meet the individual-potentially conflicting-impedance goals of the respective subtasks. In order to achieve more efficient use of the communication resource, we propose an event-triggered strategy for the communication between the robotic agents. Robust, stability also in interaction with unknown objects and unknown environments, is guaranteed via passivity-based control design. Simulations and experimental results show that, with the proposed communication strategy, the number of transmissions between agents can be significantly reduced while maintaining the flexibility introduced by the distributed controller.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2020.2973096