Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators

Antonio Petitti, Antonio Franchi, Donato Di Paola, Alessandro Rizzo

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

33 Citations (Scopus)

Abstract

In this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it does not rely on the state of all the robots but needs only to know the system parameters and load twist. Then we propose a fully decentralized controller that differs from the first one for the use of i) a decentralized estimation of the parameters and twist of the load based only on local measurements of the velocity of the contact points and ii) a discontinuous robustification term in the control law. The second controller ensures a practical stabilization of the twist in presence of estimation errors. The theoretical results are finally corroborated with a simulation campaign evaluating different manipulation settings.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages441-446
Number of pages6
ISBN (Electronic)978-1-4673-8026-3
DOIs
Publication statusPublished - 8 Jun 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016
https://www.icra2016.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2016
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Abbreviated titleICRA
CountrySweden
CityStockholm
Period16/05/1621/05/16
Internet address

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