Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

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 co...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2020-05, Vol.28 (3), p.713-729
Main Authors: Verginis, Christos K., Mastellaro, Matteo, Dimarogonas, Dimos V.
Format: Article
Language:English
Subjects:
Adaptation models
Adaptive control
Communication
Computer simulation
Cooperative control
cooperative manipulation
Grasping (robotics)
Load distribution (forces)
multiagent systems
prescribed performance control (PPC)
Protocols
Quaternions
Robot arms
Robot sensing systems
robust control
Robustness
Stress concentration
Torque
Uncertainty
unit quaternions
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Summary: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.
ISSN:1063-6536
1558-0865
1558-0865
DOI:10.1109/TCST.2018.2885682