In this article, the distributed cooperative control problem of redundant mobile manipulators is investigated. A novel method is proposed to solve the problem by integrating formation control with constrained optimization, which not only transports the object along a reference trajectory in a distributed manner but also obtains the dexterous joint postures and end-effector displacements under safety constraints for collision avoidance. For the constrained optimization, the cost function and safety constraints are designed to quantify the mobility and manipulability of mobile manipulators, and collision-free working ranges with the object and obstacles, respectively. A discontinuous projected primal-dual algorithm with damping terms is proposed to solve the constrained optimization problem, providing the joint postures and end-effector displacements, which minimize the cost function and satisfy safety constraints. For the formation control, a finite-time control law, guided by end-effector displacements from the primal-dual algorithm, is developed in order to transport the object by establishing a prescribed formation and moving its centroid to track the reference trajectory. The cooperative manipulation is therefore achieved by the proposed method, which is further validated through numerical simulations.

中文翻译：

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具有安全约束的冗余移动机械手的分布式协同控制


本文研究了冗余移动机械臂的分布式协作控制问题。提出了一种将编队控制与约束优化相结合的新方法来解决该问题，该方法不仅以分布式方式沿参考轨迹运输物体，而且还获得了安全约束下的灵巧关节姿态和末端执行器位移，以避碰。对于约束优化，设计成本函数和安全约束来分别量化移动机械手的移动性和可操作性，以及与物体和障碍物的无碰撞工作范围。提出了一种带有阻尼项的不连续投影原对偶算法来解决约束优化问题，提供关节姿态和末端执行器位移，从而最小化成本函数并满足安全约束。对于编队控制，开发了一种由原始对偶算法的末端执行器位移引导的有限时间控制律，以便通过建立规定的编队并移动其质心来跟踪参考轨迹来运输物体。因此，通过所提出的方法实现了协作操纵，并通过数值模拟进一步验证了该方法。