Formation-based approach for multi-robot cooperative manipulation based on optimal control design

Formation-based approach for multi-robot cooperative manipulation based on optimal control design

Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that co...

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Hauptverfasser: Sieber, Dominik, Deroo, Frederik, Hirche, Sandra
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Sprache:eng
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Force
Impedance
Manipulator dynamics
Optimal control
Robot kinematics
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Deroo, Frederik
Hirche, Sandra
description Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.
doi_str_mv 10.1109/IROS.2013.6697112
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subjects Force
Impedance
Manipulator dynamics
Optimal control
Robot kinematics
title Formation-based approach for multi-robot cooperative manipulation based on optimal control design
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