NDLI: An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation

Content Provider	IEEE Xplore Digital Library
Author	Erhart, S. Sieber, D. Hirche, S.
Copyright Year	2013
Description	Author affiliation: Inst. for Inf.-oriented Control, Tech. Univ. Munchen, Munich, Germany (Erhart, S.; Sieber, D.; Hirche, S.)
Abstract	Cooperative manipulation in robotic teams likely results in an increased manipulation performance due to complementary sensing and actuation capabilities or increased redundancy. However, a precise coordination of the involved manipulators is required in order to avoid undesired stress on the manipulated object. Extending the workspace of the robots by means of mobile platforms greatly enlarges the potential task spectrum but simultaneously poses new challenges for example in terms of increased kinematic errors. In this paper we show how kinematic errors in the closed kinematic chain originating from uncertainties in the geometry of object and manipulators limit the cooperative task performance. We extend an impedance-based coordination control scheme towards mobile multi-robot manipulation to limit undesired internal forces in the presence of kinematic uncertainties. Furthermore, we employ a task-space decoupling approach to reduce the impact of disturbances at the mobile platforms on the end effectors. The presented control scheme for cooperative, mobile dualarm manipulation is applicable in real-time and suitable for a team of heterogeneous manipulators. We evaluate the presented architecture by means of a large-scale experiment with four 7DoF manipulators on two mobile platforms.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	315
Ending Page	322
File Size	798156
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696370
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Mobile communication Manipulator dynamics End effectors Joints Uncertainty
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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