Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second joint being actuated (referred to as the passive-active (PA) manipulators). The problem is solved by extending the distributed end-effector formation controller for the fully-actuated manipulator to the PA manipulator moving in a horizontal plane by using its integrability. This paper presents stability analysis of the closed-loop systems under a given necessary condition, and we prove that the manipulators' end-effector converge to the desired formation shape. The proposed method is validated by simulations.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate this end-effector formation keeping pro…
Design, Control, and Motion-Planning for a Root-Perching Rotor-Distributed Manipulator
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, …
Motion PlanningShape-Interpretable Visual Self-Modeling Enables Geometry-Aware Continuum Robot Control
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perce…
From Passive Monitoring to Active Defence: Resilient Control of Manipulators Under Cyberattacks
Cyber-physical robotic systems are vulnerable to false data injection attacks (FDIAs), in which an adversary corrupts sensor signals while evading residual-based passive anomaly detectors such as the chi-squared test. Su…
Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization
Robot-environment interactions in dynamic or unstructured settings are often degraded by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties. This paper proposes an interaction arch…