Details
| Original language | English |
|---|---|
| Title of host publication | 2021 20th International Conference on Advanced Robotics, ICAR 2021 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 891-896 |
| Number of pages | 6 |
| ISBN (electronic) | 9781665436847 |
| ISBN (print) | 978-1-6654-3685-4 |
| Publication status | Published - 2021 |
| Event | 20th International Conference on Advanced Robotics, ICAR 2021 - Ljubljana, Slovenia Duration: 6 Dec 2021 → 10 Dec 2021 |
Publication series
| Name | 2021 20th International Conference on Advanced Robotics, ICAR 2021 |
|---|
Abstract
This paper presents a hybrid position and force control approach for the cooperative transport of an object by an arbitrary number of mobile manipulators. In this approach, the mobile base is controlled by a position-based formation controller and the manipulator by a force-based controller. We use a simple tracking controller to control the position of the mobile platforms. The end effector position is controlled by a cartesian impedance controller while controlling the orientation force-free. By splitting the control problem, we can eliminate the feedback of the object handling into the formation control and thus simplify the formation control significantly. Also, the orientation limitations and control errors of the nonholonomic mobile platforms can be compensated for by the manipulator's compliance, without the need for elaborate whole-body modeling and identification. As proof of concept, we demonstrate the usefulness of our approach using a transport process with two mobile manipulators in an industrial environment.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
- Computer Science(all)
- Software
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2021 20th International Conference on Advanced Robotics, ICAR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 891-896 (2021 20th International Conference on Advanced Robotics, ICAR 2021).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A Hybrid Control Approach on Handling Orientation Constraints and Tracking Errors in Formation Control for Multiple Nonholonomic Mobile Manipulators
AU - Recker, Tobias
AU - Heinrich, Malte
AU - Raatz, Annika
PY - 2021
Y1 - 2021
N2 - This paper presents a hybrid position and force control approach for the cooperative transport of an object by an arbitrary number of mobile manipulators. In this approach, the mobile base is controlled by a position-based formation controller and the manipulator by a force-based controller. We use a simple tracking controller to control the position of the mobile platforms. The end effector position is controlled by a cartesian impedance controller while controlling the orientation force-free. By splitting the control problem, we can eliminate the feedback of the object handling into the formation control and thus simplify the formation control significantly. Also, the orientation limitations and control errors of the nonholonomic mobile platforms can be compensated for by the manipulator's compliance, without the need for elaborate whole-body modeling and identification. As proof of concept, we demonstrate the usefulness of our approach using a transport process with two mobile manipulators in an industrial environment.
AB - This paper presents a hybrid position and force control approach for the cooperative transport of an object by an arbitrary number of mobile manipulators. In this approach, the mobile base is controlled by a position-based formation controller and the manipulator by a force-based controller. We use a simple tracking controller to control the position of the mobile platforms. The end effector position is controlled by a cartesian impedance controller while controlling the orientation force-free. By splitting the control problem, we can eliminate the feedback of the object handling into the formation control and thus simplify the formation control significantly. Also, the orientation limitations and control errors of the nonholonomic mobile platforms can be compensated for by the manipulator's compliance, without the need for elaborate whole-body modeling and identification. As proof of concept, we demonstrate the usefulness of our approach using a transport process with two mobile manipulators in an industrial environment.
UR - http://www.scopus.com/inward/record.url?scp=85124689280&partnerID=8YFLogxK
U2 - 10.1109/ICAR53236.2021.9659315
DO - 10.1109/ICAR53236.2021.9659315
M3 - Conference contribution
AN - SCOPUS:85124689280
SN - 978-1-6654-3685-4
T3 - 2021 20th International Conference on Advanced Robotics, ICAR 2021
SP - 891
EP - 896
BT - 2021 20th International Conference on Advanced Robotics, ICAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Advanced Robotics, ICAR 2021
Y2 - 6 December 2021 through 10 December 2021
ER -