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About this paper
Wenhang Liu, Meng Ren, Kun Song, Gaoming Chen, Michael Yu Wang, Zhenhua Xiong
The authors present a distributed controller that reduces unwanted forces between robots sharing an object. Each robot uses local force/torque sensing and information from neighbors to adjust arm joint velocities, without torque control or an accurate dynamics model. In a two-robot acrylic-sheet trial, Robot 1’s average x-force error fell by 98.68% in one controlled run versus one no-control run.
Key insights
- Effective reduction of interaction wrenches in cooperative manipulation is achievable without relying on accurate dynamic models, torque control, or external positioning systems, making the approach more practical for industrial robots.
- The connectivity of the communication graph in a distributed system directly influences the convergence speed of interaction wrenches, with denser graphs leading to faster stabilization.
- The proposed control robustly handles significant communication delays, maintaining stability and achieving desired steady-state interaction wrenches even though larger delays can affect dynamic response.
Summary by alphaXiv.
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