Title: Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Publisher: Logos Verlag Berlin
Publication Date: 2022
Language: English
ISBN 10: 3832554408
ISBN 13: 9783832554408
Binding: Soft cover
Condition: New

About this title

Synopsis

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.

"About this title" may belong to another edition of this title.

Store Description

We carry a comprehensive range of out of print and rare books.

Visit Seller's Storefront

Seller's business information

Kennys Bookshops and Art Galleries Limited
Liosban Industrial Estate, Tuam Road, Galway, Ireland

Sale & Shipping Terms

Terms of Sale

We guarantee the condition of every book as it's described on the Abebooks websites.

If you're dissatisfied with your purchase (Incorrect Book/Not as Described/Damaged) or if the order hasn't arrived, you're eligible for a refund within 30 days of the estimated delivery date.

For any queries please use the contact seller link or send an email to books@kennys.ie

Conor Kenny

Shipping Terms

All books securely packaged. Some books ship from Ireland.

Shipping rates within U.S.A.

Shipping rates within U.S.A.
Order quantity	14 to 20 business days	13 to 14 business days
First item	US$ 10.50	US$ 21.00

Delivery times are set by sellers and vary by carrier and location. Orders passing through Customs may face delays and buyers are responsible for any associated duties or fees. Sellers may contact you regarding additional charges to cover any increased costs to ship your items.