Online Sequential Task Assignment With Execution Uncertainties for Multiple Robot Manipulators

Zhang, Shiyu; Pecora, Federico

doi:10.1109/lra.2021.3093874

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Cited by 12 publications

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“…areas and, thus, an increased collision risk. Therefore, the setup, control, and operation of multirobot systems is still primarily an active field of research, e.g., [2], [5], [6], [7], [8].…”

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confidence: 99%

Predictive Control of Cooperative Robots Sharing Common Workspace

Tika,

Bajcinca

2024

IEEE Trans. Contr. Syst. Technol.

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We present a model predictive control (MPC) algorithm for online time-optimal trajectory planning of cooperative robotic manipulators. Robotic arms sharing a common confined operational space are exposed to high interrobot collision risks. For collision avoidance, a smooth robot geometry approximation by Bézier curves is applied, utilizing velocity constraints and tangent separating planes, enabling an efficient generation of robot trajectories in real-time. The proposed optimization algorithm is validated on an experimental setup consisting of two collaborative robotic arms performing synchronous pick-and-place tasks.

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confidence: 99%