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Cooperative distributed model predictive control for robot in-hand manipulation

Cooperative distributed model predictive control for robot in-hand manipulation This study aims to process multi-agent system with kinds of limitations and constraints, and consider the robot in-hand manipulation as a problem of coordination and cooperation of multi-fingered hand.Design/methodology/approachA cooperative distributed model predictive control (MPC) algorithm is proposed to perform robot in-hand manipulation.FindingsA cooperative distributed MPC approach is formulated for robot in-hand manipulation problem, which enables address complex limitation and constraint conditions in object motion planning, and realizes tracking trajectory of the object more than tracking position of the object.Originality/valueThis method to implement the moving object task uses the kinematic parameters without the knowledge of dynamic properties of the object. The cooperative distributed MPC scheme is designed to guarantee the movement of the object to a desired position and trajectory at algorithmic level. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Robotic Intelligence and Automation Emerald Publishing

Cooperative distributed model predictive control for robot in-hand manipulation

Robotic Intelligence and Automation , Volume 43 (1): 10 – Mar 28, 2023

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References (36)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
2754-6969
eISSN
2754-6977
DOI
10.1108/ria-03-2022-0052
Publisher site
See Article on Publisher Site

Abstract

This study aims to process multi-agent system with kinds of limitations and constraints, and consider the robot in-hand manipulation as a problem of coordination and cooperation of multi-fingered hand.Design/methodology/approachA cooperative distributed model predictive control (MPC) algorithm is proposed to perform robot in-hand manipulation.FindingsA cooperative distributed MPC approach is formulated for robot in-hand manipulation problem, which enables address complex limitation and constraint conditions in object motion planning, and realizes tracking trajectory of the object more than tracking position of the object.Originality/valueThis method to implement the moving object task uses the kinematic parameters without the knowledge of dynamic properties of the object. The cooperative distributed MPC scheme is designed to guarantee the movement of the object to a desired position and trajectory at algorithmic level.

Journal

Robotic Intelligence and AutomationEmerald Publishing

Published: Mar 28, 2023

Keywords: Distributed model predictive control; Robot in-hand manipulation; Position and trajectory tracking control

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