Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
Abstract
The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate this end-effector formation keeping problem for mixed fully- and under-actuated manipulators with flexible joints. In this case, the underactuated manipulators can comprise of active-passive (AP) manipulators, passive-active (PA) manipulators, or a combination thereof. We propose distributed control laws for the different types of manipulators to achieve and maintain the desired formation shape of the end-effectors. It is achieved by assigning virtual springs to the end-effectors for the fully-actuated ones and to the virtual end-effectors for the under-actuated ones. We study further the set of all desired and reachable shapes for the networked manipulators' end-effectors. Finally, we validate our analysis via numerical simulations.
Cite
@article{arxiv.2310.01101,
title = {Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints},
author = {Zhiyu Peng and Bayu Jayawardhana and Xin Xin},
journal= {arXiv preprint arXiv:2310.01101},
year = {2025}
}
Comments
14 pages, 11 figures