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Cooperative object path following control by means of mobile manipulators: A switched systems approach
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
2012 (English)In: IFAC Proceedings Volumes (IFAC-PapersOnline): Robot Control, Vol 10, Part 1, IFAC Papers Online, 2012, 773-778 p.Conference paper (Refereed)
Abstract [en]

This paper proposes a switched control algorithm for distributed cooperative manipulation of rigid bodies in a planar setting. More specifically, we consider the problem of making a grasped object follow a desired position and orientation path. The system contains N robots, possibly of heterogeneous designs, each of which consists of a manipulator arm and a nonholonomic mobile platform. Control is based on local information, is carried out on a kinematic level and partly utilizes inverse kinematics. We use Lyapunov-like arguments to prove that the algorithm is almost globally stable and also show that its parameters can be chosen so that any input saturation level is met. The time between certain switches is proved to be bounded below, and the system is shown to be free of any Zeno behavior.

Place, publisher, year, edition, pages
IFAC Papers Online, 2012. 773-778 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670
Keyword [en]
Cooperative manipulation, Mobile manipulation, Switched systems
National Category
Computational Mathematics
URN: urn:nbn:se:kth:diva-129786DOI: 10.3182/20120905-3-HR-2030.00171ScopusID: 2-s2.0-84881007582ISBN: 978-390282311-3OAI: diva2:654607
10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 through 7 September 2012

QC 20131008

Available from: 2013-10-08 Created: 2013-10-04 Last updated: 2016-04-25Bibliographically approved

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Markdahl, JohanKarayiannidis, YiannisHu, Xiaoming
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