Publication: Distributed cooperative control of multi-robot arms system for choreographed motion
| datacite.subject.fos | oecd::Engineering and technology::Electrical engineering, Electronic engineering, Information engineering | |
| dc.contributor.author | Khaw, Teng Kang | |
| dc.date.accessioned | 2024-02-14T05:02:19Z | |
| dc.date.available | 2024-02-14T05:02:19Z | |
| dc.date.issued | 2020-07-01 | |
| dc.description.abstract | In this project, distributed cooperative control of a multi-robot arms system is developed. Recent literature emphasized the importance of multi-agent system and benefit of dexterity of a robot arm in closed-kinematics chain application. It is also shown that decentralized framework of control is generally much preferable for its redundancy and reduced communication bandwidth stress. Albeit there exist a lot of literature emphasizing on cooperative control which realizes task-space tracking, little is found for the case where choreographed movement is concerned, which constitute majority of the application of interest in industry. This work sought to bridge the gap by introducing a logistic filter modified single integrator consensus model of tracking control in virtual space to realize choreographed movement using cooperative control methodology. The modified single integrator developed is shown to improve steady-state error by 14.02% in ramp response compared to conventional single integrator consensus model. Results also showed that the designed methodology is capable of achieving choreographed motion. Implementation of distributed cooperative control in choreographed motion enables scalability of robotic system in an ever-increasingly automated world. | |
| dc.identifier.uri | https://erepo.usm.my/handle/123456789/18345 | |
| dc.language.iso | en | |
| dc.title | Distributed cooperative control of multi-robot arms system for choreographed motion | |
| dc.type | Resource Types::text::report | |
| dspace.entity.type | Publication | |
| oairecerif.author.affiliation | Universiti Sains Malaysia |