Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866910293708242944 |
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| author | Jeong, Jinyeong Kim, Min Jun |
| author_facet | Jeong, Jinyeong Kim, Min Jun |
| contents | This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of passive systems, an arbitrary number of AMs can be modularly combined, leading to a decentralized control scheme. Another interesting consequence of the passivity property is that the AMs automatically converge to a certain configuration to accomplish the grasping. Collaborative grasping using 10 AMs is presented in simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_10567 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators Jeong, Jinyeong Kim, Min Jun Robotics This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of passive systems, an arbitrary number of AMs can be modularly combined, leading to a decentralized control scheme. Another interesting consequence of the passivity property is that the AMs automatically converge to a certain configuration to accomplish the grasping. Collaborative grasping using 10 AMs is presented in simulation. |
| title | Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators |
| topic | Robotics |
| url | https://arxiv.org/abs/2303.10567 |