Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments

Download Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments full books in PDF, epub, and Kindle. Read online free Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Author :
Publisher : Logos Verlag Berlin GmbH
Total Pages : 188
Release :
ISBN-10 : 9783832554408
ISBN-13 : 3832554408
Rating : 4/5 (408 Downloads)

Book Synopsis Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments by : Yanhao He

Download or read book Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments written by Yanhao He and published by Logos Verlag Berlin GmbH. This book was released on 2022-12-15 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.


Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments Related Books

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Language: en
Pages: 188
Authors: Yanhao He
Categories: Technology & Engineering
Type: BOOK - Published: 2022-12-15 - Publisher: Logos Verlag Berlin GmbH

DOWNLOAD EBOOK

Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furtherm
Formation Control
Language: en
Pages: 368
Authors: Hyo-Sung Ahn
Categories: Technology & Engineering
Type: BOOK - Published: 2019-03-29 - Publisher: Springer

DOWNLOAD EBOOK

This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characterist
Autonomous Mobile Robots
Language: en
Pages: 511
Authors: Frank L. Lewis
Categories: Technology & Engineering
Type: BOOK - Published: 2018-10-03 - Publisher: CRC Press

DOWNLOAD EBOOK

It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyo
Management and Intelligent Decision-Making in Complex Systems: An Optimization-Driven Approach
Language: en
Pages: 91
Authors: Ameer Hamza Khan
Categories: Technology & Engineering
Type: BOOK - Published: 2020-10-29 - Publisher: Springer Nature

DOWNLOAD EBOOK

In this book, the authors focus on three aspects related to the development of articulated agents: presenting an overview of high-level control algorithms for i
Mastering Robot dynamics
Language: en
Pages: 302
Authors: Cybellium Ltd
Categories: Computers
Type: BOOK - Published: - Publisher: Cybellium Ltd

DOWNLOAD EBOOK

Embark on an Enlightening Journey to "Mastering Robot Dynamics" In a world driven by automation and robotics, mastering the intricacies of robot dynamics is piv