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Distributed Position-Force Control for Cooperative Transportation with Multiple Mobile Manipulators

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Advances in Swarm Intelligence (ICSI 2021)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12690))

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Abstract

This paper presents a distributed position-force control framework for multiple mobile manipulators in charge of achieving a tightly cooperative transportation task. Since the effect of each robot is different in the whole system, a three-layer control framework is designed. For the first layer, mobile bases run distributed observer which uses global states. At the second layer, the position deviation is adopted to improve the accuracy of general manipulators. Then, position control works in combination with force to ensure that the most important manipulator achieves cooperative transportation accurately and compliantly. The designed controller is extensible, which suits not only for pure transportation tasks but can also be exploited in those cases where a closed kinematic chain is generated by multi-robots manipulations. An analysis of the proposed controller is validated by simulation with three UR5 manipulators mounted on differential driven mobile bases separately.

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Acknowledgement

This work is supported by the projects of National Natural Science Foundation of China (No. 61873192; No. 61603277; No. 61733001), the Quick Support Project (No. 61403110321), and Innovative Project No. 20-163-00-TS-009-125-01). Meanwhile, this work is also partially supported by the Fundamental Research Funds for the Central Universities and the Youth 1000 program project. It is also partially sponsored by International Joint Project Between Shanghai of China and Baden-Württemberg of Germany (No. 19510711100) within Shanghai Science and Technology Innovation Plan, as well as the projects supported by China Academy of Space Technology and Launch Vehicle Technology. All these supports are highly appreciated.

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Authors and Affiliations

  1. Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University, Shanghai, China

    Pengjie Xu, Jingtao Zhang, Kun Zhang, Yuanzhe Cui & Qirong Tang

  2. Research Institute of Zhejiang University, Taizhou, China

    Jun Zheng

Authors
  1. Pengjie Xu
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  2. Jun Zheng
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  3. Jingtao Zhang
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  4. Kun Zhang
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  5. Yuanzhe Cui
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  6. Qirong Tang
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Corresponding author

Correspondence to Jun Zheng .

Editor information

Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

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Xu, P., Zheng, J., Zhang, J., Zhang, K., Cui, Y., Tang, Q. (2021). Distributed Position-Force Control for Cooperative Transportation with Multiple Mobile Manipulators. In: Tan, Y., Shi, Y. (eds) Advances in Swarm Intelligence. ICSI 2021. Lecture Notes in Computer Science(), vol 12690. Springer, Cham. https://doi.org/10.1007/978-3-030-78811-7_11

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  • DOI: https://doi.org/10.1007/978-3-030-78811-7_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-78810-0

  • Online ISBN: 978-3-030-78811-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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