Name: Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments (en Inglés)
SKU: 68338226
Price: 135.52 USD
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Author: He, Yanhao

portada Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments (en Inglés)

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments (en Inglés)

Formato

Libro Físico

Editorial

Logos Verlag Berlin

Autor

He, Yanhao

Año

2022

Idioma

Inglés

N° páginas

180

Encuadernación

Tapa Blanda

ISBN13

9783832554408

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments (en Inglés)

He, Yanhao (Autor) · Logos Verlag Berlin · Tapa Blanda

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Reseña del libro "Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments (en Inglés)"

Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.