Publication: Distributed cooperative control of multi-robot arms system for choreographed motion
Date
2020-07-01
Authors
Khaw, Teng Kang
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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.