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Robust Quaternion-based Cooperative Manipulation without Force/Torque Information
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 1754-1759Article in journal (Refereed) Published
Abstract [en]

This paper proposes a task-space control protocol for the collaborative manipulationof a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own and the object’s dynamic/kinematic parameters and no on-line communication takes place. Moreover, no feedback of the contact forces/torques is required, therefore employment of corresponding sensors is avoided. An adaptive version of the control scheme is also introduced, where the agents’ and object’s dynamic parameters are considered unknown. We also use unit quaternions to represent the object’s orientation. In addition, load sharing coefficients between the agents are employed and internalforce regulation is guaranteed. Finally, experimental studies with two robotic arms verify the validity and effectiveness of the proposed control protocol.

Place, publisher, year, edition, pages
Elsevier , 2017. Vol. 50, no 1, p. 1754-1759
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-211175DOI: 10.1016/j.ifacol.2017.08.526Scopus ID: 2-s2.0-85031826040OAI: oai:DiVA.org:kth-211175DiVA, id: diva2:1127984
Conference
IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationEU, Horizon 2020, 644128
Note

QC 20170811

Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2018-02-20Bibliographically approved

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