Decentralized control of cooperating mobile manipulators

Thomas Sugar, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

78 Citations (Scopus)

Abstract

This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators. In this architecture, a lead robot plans, based on available sensory information, and follows a suitable trajectory. The other robots follow a desired formation with respect to the leader while maintaining a stable grasp. There are three main contributions in this paper. We present the real time control system and our approach to rapidly prototype the control code. We describe a novel, forklift-like arm and a control scheme that allows us to easily control the Cartesian stiffness or impedance. Finally, we describe the details of an experimental testbed and results that demonstrate the robustness of the control scheme.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherIEEE
Pages2916-2921
Number of pages6
Volume4
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
Duration: May 16 1998May 20 1998

Other

OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
CityLeuven, Belgium
Period5/16/985/20/98

Fingerprint

Decentralized control
Manipulators
Real time control
Robots
Control systems
Testbeds
Lead
Trajectories
Stiffness

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Sugar, T., & Kumar, V. (1998). Decentralized control of cooperating mobile manipulators. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 2916-2921). IEEE.

Decentralized control of cooperating mobile manipulators. / Sugar, Thomas; Kumar, Vijay.

Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. Vol. 4 IEEE, 1998. p. 2916-2921.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sugar, T & Kumar, V 1998, Decentralized control of cooperating mobile manipulators. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, IEEE, pp. 2916-2921, Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4), Leuven, Belgium, 5/16/98.
Sugar T, Kumar V. Decentralized control of cooperating mobile manipulators. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. IEEE. 1998. p. 2916-2921
Sugar, Thomas ; Kumar, Vijay. / Decentralized control of cooperating mobile manipulators. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. Vol. 4 IEEE, 1998. pp. 2916-2921
@inproceedings{efa6c945cf5e44a49439e60b33ddf562,
title = "Decentralized control of cooperating mobile manipulators",
abstract = "This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators. In this architecture, a lead robot plans, based on available sensory information, and follows a suitable trajectory. The other robots follow a desired formation with respect to the leader while maintaining a stable grasp. There are three main contributions in this paper. We present the real time control system and our approach to rapidly prototype the control code. We describe a novel, forklift-like arm and a control scheme that allows us to easily control the Cartesian stiffness or impedance. Finally, we describe the details of an experimental testbed and results that demonstrate the robustness of the control scheme.",
author = "Thomas Sugar and Vijay Kumar",
year = "1998",
language = "English (US)",
volume = "4",
pages = "2916--2921",
editor = "Anon",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "IEEE",

}

TY - GEN

T1 - Decentralized control of cooperating mobile manipulators

AU - Sugar, Thomas

AU - Kumar, Vijay

PY - 1998

Y1 - 1998

N2 - This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators. In this architecture, a lead robot plans, based on available sensory information, and follows a suitable trajectory. The other robots follow a desired formation with respect to the leader while maintaining a stable grasp. There are three main contributions in this paper. We present the real time control system and our approach to rapidly prototype the control code. We describe a novel, forklift-like arm and a control scheme that allows us to easily control the Cartesian stiffness or impedance. Finally, we describe the details of an experimental testbed and results that demonstrate the robustness of the control scheme.

AB - This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators. In this architecture, a lead robot plans, based on available sensory information, and follows a suitable trajectory. The other robots follow a desired formation with respect to the leader while maintaining a stable grasp. There are three main contributions in this paper. We present the real time control system and our approach to rapidly prototype the control code. We describe a novel, forklift-like arm and a control scheme that allows us to easily control the Cartesian stiffness or impedance. Finally, we describe the details of an experimental testbed and results that demonstrate the robustness of the control scheme.

UR - http://www.scopus.com/inward/record.url?scp=0031633582&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031633582&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0031633582

VL - 4

SP - 2916

EP - 2921

BT - Proceedings - IEEE International Conference on Robotics and Automation

A2 - Anon, null

PB - IEEE

ER -