A framework for set-based kinematic control of multi-robot systems

Abstract In this paper, a novel control framework for coordinated motion for kinematically redundant multi-robot systems is developed. The framework embeds both tasks expressed as equality constraints and set-based tasks, i.e., tasks expressed via inequality constraints, in a task-priority kinematic control scheme. The effectiveness of the approach is experimentally demonstrated on two different multi-arm systems. The first system, aimed at operating in household tasks, is composed by two arms mounted on a mobile holonomic base, the second system is mounted on an aerial vehicle and is conceived to perform inspection and maintenance tasks.

[1]  Pierre-Brice Wieber,et al.  Hierarchical quadratic programming: Fast online humanoid-robot motion generation , 2014, Int. J. Robotics Res..

[2]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[3]  Kristin Ytterstad Pettersen,et al.  Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results , 2016, Front. Robot. AI.

[4]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[5]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[6]  Stefano Chiaverini,et al.  Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[7]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[8]  Gianluca Antonelli,et al.  Safety-Related Tasks Within the Set-Based Task-Priority Inverse Kinematics Framework , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[9]  John M. Hollerbach,et al.  Redundancy resolution of manipulators through torque optimization , 1987, IEEE J. Robotics Autom..

[10]  Joel W. Burdick,et al.  Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies , 2000, Int. J. Robotics Res..

[11]  Rodrigo S. Jamisola,et al.  A more compact expression of relative Jacobian based on individual manipulator Jacobians , 2015, Robotics Auton. Syst..

[12]  Thomas Looi,et al.  Closed-loop inverse kinematics under inequality constraints: Application to concentric-tube manipulators , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Gianluca Antonelli,et al.  The NSB control: a behavior-based approach for multi-robot systems , 2010, Paladyn J. Behav. Robotics.

[14]  Guillermo Heredia,et al.  Physical-Virtual Impedance Control in Ultralightweight and Compliant Dual-Arm Aerial Manipulators , 2018, IEEE Robotics and Automation Letters.

[15]  Ahmed A. Shabana,et al.  Dynamics of Multibody Systems , 2020 .

[16]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[17]  Jan Tommy Gravdahl,et al.  Stability of the Tracking Problem with Task-Priority Inverse Kinematics , 2018 .

[18]  Jun Nakanishi,et al.  Operational Space Control: A Theoretical and Empirical Comparison , 2008, Int. J. Robotics Res..

[19]  Giuseppe Casalino,et al.  Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project , 2014, J. Field Robotics.

[20]  Stefano Chiaverini,et al.  Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators , 1997, IEEE Trans. Robotics Autom..

[21]  Gianluca Antonelli,et al.  BCI-Controlled Assistive Manipulator: Developed Architecture and Experimental Results , 2021, IEEE Transactions on Cognitive and Developmental Systems.

[22]  A. Ollero,et al.  Lightweight and human-size dual arm aerial manipulator , 2017, 2017 International Conference on Unmanned Aircraft Systems (ICUAS).

[23]  Gianluca Antonelli,et al.  The null-space-based behavioral control for autonomous robotic systems , 2008, Intell. Serv. Robotics.

[24]  Kristin Y. Pettersen,et al.  Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs , 2020, IFAC-PapersOnLine.

[25]  Siddharth Mayya,et al.  A Set-Theoretic Approach to Multi-Task Execution and Prioritization , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

[26]  Guillermo Heredia,et al.  Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation , 2018, IEEE Access.

[27]  F. Pierri,et al.  Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments , 2018, IEEE Transactions on Control Systems Technology.

[28]  Aníbal Ollero,et al.  Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[29]  Aníbal Ollero,et al.  Behavioral control of unmanned aerial vehicle manipulator systems , 2017, Auton. Robots.