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.
«
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 p...
»