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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
