TY - GEN
T1 - Adaptive force/velocity control for multi-robot cooperative manipulation under uncertain kinematic parameters
AU - Erhart, Sebastian
AU - Hirche, Sandra
PY - 2013
Y1 - 2013
N2 - Multi-robot cooperative manipulation of a common object requires precise kinematic coordination of the attached end effectors in order to avoid excessive forces on the object and the manipulators. A manipulation task is considered successful if the desired object motion and forces are tracked accurately. In this paper we present a systematic analysis on the effect of uncertain kinematic parameters on the tracking behavior in a planar manipulation task. An adaptive control scheme is proposed, which achieves the desired control goal asymptotically. The presented scheme employs the current force/motion data of the attached end effectors without relying on a common reference frame. The algorithm is applicable to common manipulator types with wrist-mounted force/torque sensors and implementable in real-time. The performance of the proposed control scheme is evaluated experimentally with two 7DoF manipulators who cooperatively manipulate an object of uncertain length.
AB - Multi-robot cooperative manipulation of a common object requires precise kinematic coordination of the attached end effectors in order to avoid excessive forces on the object and the manipulators. A manipulation task is considered successful if the desired object motion and forces are tracked accurately. In this paper we present a systematic analysis on the effect of uncertain kinematic parameters on the tracking behavior in a planar manipulation task. An adaptive control scheme is proposed, which achieves the desired control goal asymptotically. The presented scheme employs the current force/motion data of the attached end effectors without relying on a common reference frame. The algorithm is applicable to common manipulator types with wrist-mounted force/torque sensors and implementable in real-time. The performance of the proposed control scheme is evaluated experimentally with two 7DoF manipulators who cooperatively manipulate an object of uncertain length.
UR - http://www.scopus.com/inward/record.url?scp=84893726488&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696369
DO - 10.1109/IROS.2013.6696369
M3 - Conference contribution
AN - SCOPUS:84893726488
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 307
EP - 314
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -