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

Content Provider	IEEE Xplore Digital Library
Author	Sieber, D. Deroo, F. Hirche, S.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. Manchen, Munich, Germany (Sieber, D.; Deroo, F.; Hirche, S.)
Abstract	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.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5227
Ending Page	5233
File Size	841055
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697112
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	Force Impedance Manipulator dynamics Robot kinematics Optimal control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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