This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. First, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Second, we propose a control protocol that guarantees predefined transient and steady-state performance for the object trajectory. Both methodologies are decentralized, since the agents calculate their own signals without communicating with each other, as well as robust to external disturbances and model uncertainties. Moreover, we consider that the grasping points are rigid and avoid the need for force/torque measurements. Load distribution is also included via a grasp matrix pseudoinverse to account for potential differences in the agents’ power capabilities. Finally, simulation and experimental results with two robotic arms verify the theoretical findings. ; QC 20190402
Robust Cooperative Manipulation Without Force/Torque Measurements : Control Design and Experiments
2020-01-01
Scopus 2-s2.0-85083355483
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Robust Quaternion-based Cooperative Manipulation without Force/Torque Information
BASE | 2017
|Force Control in Cooperative Aerial Manipulation
IEEE | 2018
|Robotic End-Effector Impedance Control without Expensive Torque/Force Sensor
BASE | 2013
|Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation
BASE | 2020
|