Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866912463204646912 |
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| author | Peng, Zhiyu Jayawardhana, Bayu Xin, Xin |
| author_facet | Peng, Zhiyu Jayawardhana, Bayu Xin, Xin |
| contents | The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate this end-effector formation keeping problem for mixed fully- and under-actuated manipulators with flexible joints. In this case, the underactuated manipulators can comprise of active-passive (AP) manipulators, passive-active (PA) manipulators, or a combination thereof. We propose distributed control laws for the different types of manipulators to achieve and maintain the desired formation shape of the end-effectors. It is achieved by assigning virtual springs to the end-effectors for the fully-actuated ones and to the virtual end-effectors for the under-actuated ones. We study further the set of all desired and reachable shapes for the networked manipulators' end-effectors. Finally, we validate our analysis via numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_01101 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints Peng, Zhiyu Jayawardhana, Bayu Xin, Xin Systems and Control Robotics Optimization and Control The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate this end-effector formation keeping problem for mixed fully- and under-actuated manipulators with flexible joints. In this case, the underactuated manipulators can comprise of active-passive (AP) manipulators, passive-active (PA) manipulators, or a combination thereof. We propose distributed control laws for the different types of manipulators to achieve and maintain the desired formation shape of the end-effectors. It is achieved by assigning virtual springs to the end-effectors for the fully-actuated ones and to the virtual end-effectors for the under-actuated ones. We study further the set of all desired and reachable shapes for the networked manipulators' end-effectors. Finally, we validate our analysis via numerical simulations. |
| title | Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints |
| topic | Systems and Control Robotics Optimization and Control |
| url | https://arxiv.org/abs/2310.01101 |