Abstract In this paper, a novel control framework for coordinated motion for kinematically redundant multi-robot systems is developed. The framework embeds both tasks expressed as equality constraints and set-based tasks, i.e., tasks expressed via inequality constraints, in a task-priority kinematic control scheme. The effectiveness of the approach is experimentally demonstrated on two different multi-arm systems. The first system, aimed at operating in household tasks, is composed by two arms mounted on a mobile holonomic base, the second system is mounted on an aerial vehicle and is conceived to perform inspection and maintenance tasks.

中文翻译：

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基于集合的多机器人系统运动学控制框架

摘要 在本文中，开发了一种新的运动冗余多机器人系统协调运动控制框架。该框架将表示为等式约束的任务和基于集合的任务（即通过不等式约束表示的任务）嵌入到任务优先级运动学控制方案中。该方法的有效性在两个不同的多臂系统上得到了实验证明。第一个系统旨在执行家务，由安装在完整移动底座上的两个臂组成，第二个系统安装在飞行器上，旨在执行检查和维护任务。