scholarly journals Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks

2019 ◽  
Vol 9 (5) ◽  
pp. 924 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Ming Chen ◽  
Xianzhong Dai
Keyword(s):  
Trajectory Planning ◽  
Cooperative Control ◽  
Impedance Control ◽  
Welding Process ◽  
Coordination Control ◽  
Control Approach ◽  
Force Coordination ◽  
Force Tracking ◽  
Robot Systems ◽  
Multi Robot

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchical planning control strategy is adopted firstly, which has the ability to solve the problem of complex coordinate transformation, welding process requirement and constraints, etc. Furthermore, a new symmetrical internal and external adaptive variable impedance control is proposed for position/force tracking of multi-robot cooperative manipulators. Based on this control approach, the multi-robot cooperative manipulator is able to track a dynamic desired force and compensate for the unknown trajectory deviations, which result from external disturbances and calibration errors. In the end, the developed control scheme is experimentally tested on a multi-robot setup which is composed of three ESTUN industrial manipulators by welding a pipe-contact-pipe object. The simulations and experimental results are strongly proved that the proposed approach can finish the welding task smoothly and achieve a good position/force tracking performance.

A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems

2019 ◽  
pp. 1058-1070
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Cooperative Control ◽  
Behavioral Control ◽  
Discrete Event ◽  
Control Approach ◽  
Robot Systems ◽  
Command Input ◽  
High Level ◽  
Control Modules

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net-based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control, and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems

2018 ◽  
pp. 6836-6846
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Cooperative Control ◽  
Behavioral Control ◽  
Discrete Event ◽  
Control Approach ◽  
Robot Systems ◽  
Command Input ◽  
High Level ◽  
Control Modules

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

Cluster Space Control of Autonomous Surface Vessels

2009 ◽  
Vol 43 (1) ◽  
pp. 13-20 ◽  
Author(s):  
Paul Mahacek ◽  
Ignacio Mas ◽  
Ognjen Petrovic ◽  
Jose Acain ◽  
Christopher Kitts
Keyword(s):  
Autonomous Navigation ◽  
Low Cost ◽  
Control Technique ◽  
Control Approach ◽  
Human In The Loop ◽  
Surface Vessels ◽  
Robot Systems ◽  
The Individual ◽  
Future Work ◽  
Multi Robot

AbstractMulti-robot systems offer many advantages over a single-robot system, including redundancy, coverage and flexibility. One of the key technical considerations in fielding multi-robot systems for real-world applications is the coordination of the individual units. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems. Previous work has established this approach and has experimentally verified its use for land-based systems consisting of 2-4 robots and with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this paper, we describe the design and fabrication of a new low-cost autonomous surface vessel (ASV). The technical system includes a multi-boat system capable of autonomous navigation using the cluster space control technique. It also includes a centralized controller, currently implemented via a shore-based computer that wirelessly receives ASV data and relays drive commands. Using the cluster space control approach, these drive commands allow a pilot to remotely drive a two-ASV cluster or to specify that the two ASVs maintain formation with a third boat. The resulting multi-ASV clusters can be arbitrarily translated, rotated, and resized depending on the needs of a specific application. Experimental results demonstrating these capabilities are provided, and plans for future work are discussed.

REAL-TIME SCHEDULING OF DISTRIBUTED MULTI-ROBOT MANIPULATOR SYSTEMS

2005 ◽  
Vol 29 (2) ◽  
pp. 179-194
Author(s):  
P. Yuan ◽  
M. Moallem ◽  
R.V. Patel
Keyword(s):  
Execution Time ◽  
Cooperative Control ◽  
Resource Constraints ◽  
Robot Manipulator ◽  
Scheduling Algorithm ◽  
Worst Case ◽  
Real Time Scheduling ◽  
Robot Systems ◽  
Time Scheduling ◽  
Multi Robot

This paper presents an online task-oriented scheduling method and an off-line scheduling algorithm that can be used for cooperative control of a distributed multi-robot manipulator system. Satisfaction of temporal deadlines and tasks-relative constraints are considered in this work. With the proposed algorithms, both the timing constraints and relative task dependencies can be satisfied when the worst-case execution time is unknown. The total execution time of the assembly tasks can be significantly improved compared with other known scheduling algorithms such as the First-In-First-Out and Round Robin scheduling methods. Experimental results are presented indicating that the proposed algorithm can be used for improving the performance of multi-robot systems in terms of timing and resource constraints.

Shared invariance control for constraint satisfaction in multi-robot systems

2019 ◽  
Vol 38 (10-11) ◽  
pp. 1268-1285
Author(s):  
Melanie Kimmel ◽  
Jannick Pfort ◽  
Jan Wöhlke ◽  
Sandra Hirche
Keyword(s):  
Constraint Satisfaction ◽  
Intelligent Agents ◽  
Task Constraints ◽  
Control Approach ◽  
Control Scheme ◽  
Robot Systems ◽  
Invariance Control ◽  
The Individual ◽  
Multi Robot

In systems involving multiple intelligent agents, e.g. multi-robot systems, the satisfaction of environmental, inter-agent, and task constraints is essential to ensure safe and successful task execution. This requires a constraint enforcing control scheme, which is able to allocate and distribute the required evasive control actions adequately among the agents, ideally according to the role of the agents or the importance of the executed tasks. In this work, we propose a shared invariance control scheme in combination with a suitable agent prioritization to control multiple agents safely and reliably. Based on the projection of the constraints into the input spaces of the individual agents using input–output linearization, shared invariance control determines constraint enforcing control inputs and facilitates implementation in a distributed manner. In order to allow for shared evasive actions, the control approach introduces weighting factors derived from a two-stage prioritization scheme, which allots the weights according to a variety of factors such as a fixed task priority, the number of constraints affecting each agent or a manipulability measure. The proposed control scheme is proven to guarantee constraint satisfaction. The approach is illustrated in simulations and an experimental evaluation on a dual-arm robotic platform.

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