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Decentralized control of internal wrenches in a multi-manipulators object transportation task

Carriero, Graziano ; Sileo, Monica ; Karayiannidis, Yiannis LU orcid ; Pierri, Francesco and Caccavale, Fabrizio (2025) p.705-710
Abstract
This paper presents a decentralized strategy for a team of N robotic manipulators cooperatively grasping and manipulating an object. A two-step strategy has been designed. In the first step, each robot runs N − 1 consensus-based estimators to estimates the wrenches applied to the object by its teammates even when direct all-to-all communication is unavailable. In the second step, each manipulator runs a local compliance controller to adjust its end-effector compliance, thereby reducing internal stresses and preventing potential damage to the object. The effectiveness of the proposed scheme is validated through simulations of a work-cell with four 7-DOFs manipulators by using a realistic dynamic simulator. Simulation results confirm the... (More)
This paper presents a decentralized strategy for a team of N robotic manipulators cooperatively grasping and manipulating an object. A two-step strategy has been designed. In the first step, each robot runs N − 1 consensus-based estimators to estimates the wrenches applied to the object by its teammates even when direct all-to-all communication is unavailable. In the second step, each manipulator runs a local compliance controller to adjust its end-effector compliance, thereby reducing internal stresses and preventing potential damage to the object. The effectiveness of the proposed scheme is validated through simulations of a work-cell with four 7-DOFs manipulators by using a realistic dynamic simulator. Simulation results confirm the capability of the approach to limit internal wrenches, even under restricted communication conditions. (Less)
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author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Simulation, Internal stresses, Decentralized control, Transportation, Europe, Grasping, End effectors, Manipulator dynamics
host publication
2025 European Control Conference (ECC)
pages
6 pages
DOI
10.23919/ECC65951.2025.11187074
project
Intelligent trajectory predictions at sea using neural ordinary differential equations
language
Unknown
LU publication?
yes
id
eae3f3b0-e5d5-4949-9d0a-434636c4e452
date added to LUP
2025-10-19 18:39:38
date last changed
2025-10-25 03:36:18
@inproceedings{eae3f3b0-e5d5-4949-9d0a-434636c4e452,
  abstract     = {{This paper presents a decentralized strategy for a team of N robotic manipulators cooperatively grasping and manipulating an object. A two-step strategy has been designed. In the first step, each robot runs N − 1 consensus-based estimators to estimates the wrenches applied to the object by its teammates even when direct all-to-all communication is unavailable. In the second step, each manipulator runs a local compliance controller to adjust its end-effector compliance, thereby reducing internal stresses and preventing potential damage to the object. The effectiveness of the proposed scheme is validated through simulations of a work-cell with four 7-DOFs manipulators by using a realistic dynamic simulator. Simulation results confirm the capability of the approach to limit internal wrenches, even under restricted communication conditions.}},
  author       = {{Carriero, Graziano and Sileo, Monica and Karayiannidis, Yiannis and Pierri, Francesco and Caccavale, Fabrizio}},
  booktitle    = {{2025 European Control Conference (ECC)}},
  keywords     = {{Simulation; Internal stresses; Decentralized control; Transportation; Europe; Grasping; End effectors; Manipulator dynamics}},
  language     = {{und}},
  pages        = {{705--710}},
  title        = {{Decentralized control of internal wrenches in a multi-manipulators object transportation task}},
  url          = {{http://dx.doi.org/10.23919/ECC65951.2025.11187074}},
  doi          = {{10.23919/ECC65951.2025.11187074}},
  year         = {{2025}},
}