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A high level decentralized tracking algorithm for three manipulators subject to motion constraints
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.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: Intelligent Control and Automation (WCICA), 2012 10th World Congress on, IEEE , 2012, 1920-1924 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers a tracking problem for three manipulators grasping a rigid object. The control objective is to coordinate the movements of the manipulators using local information in order to align the object attitude with a desired rest attitude and the object position with a time parameterized reference trajectory. The object rigidity is modelled as a constraint on the motion of the end-effectors saying that the distance between any pair of end-effectors must be constant in time. The control law consists of a rotational part and a translational part. The translational part also incorporates a linear observer of the reference trajectory. We prove stability and illustrate the system dynamics by simulation.

Place, publisher, year, edition, pages
IEEE , 2012. 1920-1924 p.
Keyword [en]
attitude control, decentralized control, formation control, rigid-body motion
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-116814DOI: 10.1109/WCICA.2012.6358190Scopus ID: 2-s2.0-84872349653ISBN: 978-146731398-8 (print)OAI: oai:DiVA.org:kth-116814DiVA: diva2:601437
Conference
10th World Congress on Intelligent Control and Automation, WCICA 2012, 6 July 2012 through 8 July 2012, Beijing
Note

QC 20130129

Available from: 2013-01-29 Created: 2013-01-28 Last updated: 2016-04-18Bibliographically approved

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Hu, XiaomingKragic, Danica

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
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Language
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  • en-GB
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  • fi-FI
  • nn-NO
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Output format
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