Abstract
The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-manipulator task distribution is highly complex because of the varying dynamic capabilities of the manipulators. We have introduced a novel fastest technique to quantify the dynamic task capability of the cooperative manipulator by scalar quantity and allocate the task accordingly. The scalar quantity determines the capability of applying an external wrench by end effector (EE) in line with the required wrench at the center of mass of the manipulating object. This quantity helps to diminish tracking errors in object manipulations or transportation and actuator saturation avoidance. The task distribution among the members is in proportion to their computed dynamic capability to ensure equal priority to the individual manipulators. The proposed task distribution formulation ensures the minimum magnitude of wrench interaction at the grasp point and the minimum internal wrench build-up in the object. Several physical simulation results assure trajectory tracking performance with the proposed task capability metric. The same metric aids in identifying the least capable manipulator, rearranging members for better performance, and deciding the required number of manipulators in the manipulator group.
Article PDF
Similar content being viewed by others
Availability of data and materials
The datasets generated during the current study are available from the corresponding author on specific request.
References
Bonitz, R.G., Hsia, T.C.: In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation, vol. 2, pp. 1521–1527 (1994). https://doi.org/10.1109/ROBOT.1994.351372
Chung, J.H., Yi, B.J., Kim W.K.: Analysis of internal loading at multiple robotic systems. J. Mech. Sci. Technol 19 (2005). https://doi.org/10.1007/BF03023933
Erhart, S., Hirche, S.: Internal force analysis and load distribution for cooperative multi-robot manipulation. IEEE Trans. Robot. 31(5), 1238–1243 (2015). https://doi.org/10.1109/TRO.2015.2459412
Erhart, S., Hirche, S.: Model and analysis of the interaction dynamics in cooperative manipulation tasks. IEEE Trans. Robot. 32(3), 672–683 (2016). https://doi.org/10.1109/TRO.2016.2559500
Schmidts, A.M., Schneider, M., Kühne, A.: Peer, In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4922–4929 (2016). https://doi.org/10.1109/ICRA.2016.7487698
Donner, P., Endo, S., Buss, M.: Physically plausible wrench decomposition for multieffector object manipulation. IEEE Trans. Robot. 34(4), 1053–1067 (2018). https://doi.org/10.1109/TRO.2018.2830369
Chiacchio, P., Bouffard-Vercelli, Y., Pierrot, F.: In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 4 pp. 3520–3525 (1996). https://doi.org/10.1109/ROBOT.1996.509249
Chiacchio, P., Bouffard-Vercelli, Y., Pierrot, F.: Force polytope and force ellipsoid for redundant manipulators. J. Robot. Syst. 14(8), 613–620 (1997). https://doi.org/10.1002/(SICI)1097-4563(199708)14:8<613::AID-ROB3>3.0.CO;2-P
Sasaki, M., Iwami, T., Miyawaki, K., Sato, I., Obinata, G., Dutta A.: In: Search Algorithms and Applications, (ed.) by Mansour, N., (IntechOpen, Rijeka, 2011), chap. 22. https://doi.org/10.5772/14201
Skuric, A., Padois, V., Daney, D.: In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 1700–1706 (2021). https://doi.org/10.1109/ICRA48506.2021.9562050
Patel, S., Sobh, T.: Manipulator performance measures – a comprehensive literature survey. J Intell. Robot. Syst. Theory Appl. 77(3-4), 547–570 (2015). https://doi.org/10.1007/s10846-014-0024-y. https://www.scopus.com/inward/record.uri?eid=2-s2.0-84924223466 &doi=10.1007%2fs10846-014-0024-y &partnerID=40 &md5=4c5058798c844682fae75ad123e83515. Cited by: 166; All Open Access, Green Open Access
Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Robot. Res. 4, 3–9 (1985). https://doi.org/10.1177/027836498500400201
Yoshikawa, T.: in Proceedings. IEEE International Conference on Robotics and Automation 2(1985), 1033–1038 (1985). https://doi.org/10.1109/ROBOT.1985.1087277
Stradovnik, S., Hace, A.: Task-oriented evaluation of the feasible kinematic directional capabilities for robot machining. Sensors 22(11) (2022). https://doi.org/10.3390/s22114267. https://www.mdpi.com/1424-8220/22/11/4267
Feller, D.: Dexterity, workspace and performance analysis of the conceptual design of a novel three-legged, redundant, lightweight, compliant, serial-parallel robot. J. Intell. & Robot. Syst. 109, 6 (2023). https://doi.org/10.1007/s10846-023-01900-8
Skuric, A., Padois, V., Rezzoug, N., Daney, D.: On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method. IEEE Robotics and Automation Letters 7(2), 5206–5213 (2022). https://doi.org/10.1109/LRA.2022.3155374
Guay, F., Cardou, P., Cruz-Ruiz, A.L., Caro, S.: in New Advances. In: Petuya, V., Pinto, C., Lovasz, E.C. (eds.) Mechanisms, Transmissions and Applications, pp. 385–392. Springer, Netherlands, Dordrecht (2014)
Rasheed, T., Long, P., Marquez-Gamez, D., Caro, S.: In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 962–967 (2018). https://doi.org/10.1109/ICRA.2018.8461199
Sagar, K., Caro, S., Padır, T.: Long, P.: Polytope-based continuous scalar performance measure with analytical gradient for effective robot manipulation. IEEE Robot. Autom. Lett. 8(11), 7289–7296 (2023). https://doi.org/10.1109/LRA.2023.3313926
Chiacchio, P., Chiaverini, S., Sciavicco, L., Siciliano, B.: Global task space manipulability ellipsoids for multiple-arm systems. IEEE Trans. Robot. Autom. 7, 678–685 (1991). https://doi.org/10.1109/70.97880
Chiacchio, P., Chiaverini, S., Sciavicco, L., Siciliano, B.: Task space dynamic analysis of multiarm system configurations. Int. J. Robot. Res. 10(6), 708–715 (1991). https://doi.org/10.1177/027836499101000608
Wang, L.C., Kuo, M.J.: Dynamic load-carrying capacity and inverse dynamics of multiple cooperating robotic manipulators. IEEE Trans. Robot. Autom. 10(1), 71–77 (1994). https://doi.org/10.1109/70.285588
Sheng Zhao, Y., Lu, L., Shi Zhao, T., Hui Du, Y., Huang, Z.: The novel approaches for computing the dynamic load-carrying capacity of multiple cooperating robotic manipulators. Mech. Mach. Theory 34(4), 637–643 (1999). https://doi.org/10.1016/S0094-114X(97)00107-9. https://www.sciencedirect.com/science/article/pii/S0094114X97001079
Zhao, Y.S., Ren, J.Y., Huang, Z.: Dynamic loads coordination for multiple cooperating robot manipulators. Mech. Mach. Theory 35(7), 985–995 (2000). https://doi.org/10.1016/S0094-114X(99)00052-X. https://www.sciencedirect.com/science/article/pii/S0094114X9900052X
Nokleby, S., Fisher, R., Podhorodeski, R., Firmani, F.: Force capabilities of redundantly-actuated parallel manipulators. Mech. Mach. Theory 40, 578–599 (2005). https://doi.org/10.1016/j.mechmachtheory.2004.10.005
S. Nokleby, F. Firmani, A. Zibil, R. Podhorodeski, Force-moment capabilities of redundantly-actuated planar-parallel architectures. Proceedings of the IFToMM pp. 17–21(2007)
Firmani, F., Zibil, A., Nokleby, S.B., Podhorodeski, R.P.: Wrench capabilities of planar parallel manipulators. part i: Wrench polytopes and performance indices. Robotica 26(6), 791–802 (2008). https://doi.org/10.1017/S0263574708004384
Firmani, F., Zibil, A., Nokleby, S.B., Podhorodeski, R.P.: Wrench capabilities of planar parallel manipulators. part i: Wrench polytopes and performance indices. Robotica 26(6), 791–802 (2008). https://doi.org/10.1017/S0263574708004384
Zhou, C., Tao, H., Chen, Y., Stojanovic, V., Paszke, W.: Robust point-to-point iterative learning control for constrained systems: a minimum energy approach. Int. J. Robust Nonlinear Control 32(18), 10,139–10,161 (2022). https://doi.org/10.1002/rnc.6354
Stojanovic, V.: Fault-tolerant control of a hydraulic servo actuator via adaptive dynamic programming. Math Model. Control 3(3), 181–191 (2023). https://doi.org/10.3934/mmc.2023016
Hayati, S.: In: Proceedings. IEEE International Conference on Robotics and Automation 3(1986), 82–89 (1986). https://doi.org/10.1109/ROBOT.1986.1087650
Zheng, Y.F., Luh, J.Y.S.: In: Proceedings. 1988 IEEE International Conference on Robotics and Automation vol. 1, pp. 344–349 (1988). https://doi.org/10.1109/ROBOT.1988.12072
X. Song, P. Sun, S. Song, V. Stojanovic, Quantized neural adaptive finite-time preassigned performance control for interconnected nonlinear systems. Neural Comput. Appl. 35(21), 15,429–15,446 (2023). https://doi.org/10.1007/s00521-023-08361-y
Alberts, T.E., Soloway, D.I., In: Proceedings. 1988 IEEE International Conference on Robotics and Automation vol.3, pp. 1490–1496 (1988). https://doi.org/10.1109/ROBOT.1988.12278
Walker, I.D., Freeman, R.A., Marcus, S.I.: Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators. Int. J. Robot. Res. 10(4), 396–409 (1991). https://doi.org/10.1177/027836499101000408
Springer Handbook of Robotics, Springer, pp. 704–705 (2008)
Mejia, L., Simas, H., Martins, D.: Force capability in general 3dof planar mechanisms. Mech. Mach. Theory 91, 120–134 (2015). https://doi.org/10.1016/j.mechmachtheory.2015.04.013
Berghuis, H., Nijmeijer, H.: A passivity approach to controller-observer design for robots. IEEE Trans. Robot. Autom. 9(6), 740–754 (1993). https://doi.org/10.1109/70.265918
Corke, P.: Robotics, Vision and Control, vol. 118, 2nd (edn.), Springer International Publishing, (2017). https://doi.org/10.1007/978-3-319-54413-7
ROBOTIS. Open manipulator-x (2017). https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/
Author information
Authors and Affiliations
Contributions
K. Patra conceived the idea, developed the theoretical framework, and performed simulations. A. Sinha devised the simulation test cases. A. Guha contributed to interpreting the results.
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
About this article
Cite this article
Patra, K., Sinha, A. & Guha, A. Online Capability Based Task Allocation of Cooperative Manipulators. J Intell Robot Syst 110, 23 (2024). https://doi.org/10.1007/s10846-024-02050-1
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10846-024-02050-1