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Distributed Formation Control for Manipulator End Effectors
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AI
DOI：10.1109/TAC.2022.3225478.png)
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Abstract
En 中文
This article addresses the problem of achieving and maintaining the 2-D/3-D formation shape of networked manipulator end effectors. We first present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach.
Keywords:
End effectors
Manipulator dynamics
Kinematics
Robots
Formation control
Shape
Robot kinematics
End effector control
formation control
networked manipulators
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W