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Distributed Cooperative Object Attitude Manipulation
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0001-5129-342X
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2012, 2960-2965 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a local information based control law in order to solve the planar manipulation problem of rotating a grasped rigid object to a desired orientation using multiple mobile manipulators. We adopt a multi-agent systems theory approach and assume that: (i) the manipulators (agents) are capable of sensing the relative position to their neighbors at discrete time instances, (ii) neighboring agents may exchange information at discrete time instances, and (iii) the communication topology is connected. Control of the manipulators is carried out at a kinematic level in continuous time and utilizes inverse kinematics. The mobile platforms are assigned trajectory tracking tasks that adjust the positions of the manipulator bases in order to avoid singular arm configurations. Our main result concerns the stability of the proposed control law.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012. 2960-2965 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 2152-4092
Keyword [en]
Mobile Manipulators, Robots
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-87476DOI: 10.1109/ICRA.2012.6224665ISI: 000309406702147Scopus ID: 2-s2.0-84864482169ISBN: 978-1-4673-1405-3 (print)OAI: oai:DiVA.org:kth-87476DiVA: diva2:501703
Conference
IEEE International Conference on Robotics and Automation (ICRA) Location: St Paul, MN Date: MAY 14-18, 2012
Funder
ICT - The Next Generation
Note

QC 20121115

Available from: 2012-02-14 Created: 2012-02-14 Last updated: 2016-04-25Bibliographically approved

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Karayiannidis, YiannisHu, XiaomingKragic, Danica

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