학술논문
Distributed Formation Control for Manipulator End Effectors
Document Type
Periodical
Author
Source
IEEE Transactions on Automatic Control IEEE Trans. Automat. Contr. Automatic Control, IEEE Transactions on. 68(9):5413-5428 Sep, 2023
Subject
Language
ISSN
0018-9286
1558-2523
2334-3303
1558-2523
2334-3303
Abstract
This article addresses the problem of achieving and maintaining the 2-D/3-D formation shape of networked manipulator end effectors. We first present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach.