A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance

被引：0

作者：

Nikou, Alexandros ^{[1
,2
]}

Verginis, Christos ^{[1
,2
]}

Heshmati-alamdari, Shahab ^{[3
]}

Dimarogonas, Dimos V. ^{[1
,2
]}

机构：

[1] KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden

[2] KTH Ctr Autonomous Syst, Stockholm, Sweden

[3] Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Athens 15780, Greece

来源：

2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2017年

基金：

欧盟地平线“2020”; 瑞典研究理事会;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in a bounded workspace with obstacles, while complying with certain input saturations of the agents. Moreover, the proposed methodology ensures that the agents do not collide with each other or with the workspace obstacles as well as that they do not pass through singular configurations. The feasibility and convergence analysis of the NMPC are explicitly provided. Finally, simulation results illustrate the validity and efficiency of the proposed method.

引用

页码：707 / 712

页数：6

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