Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection
This addresses formation control for manipulators in robotics, but it appears incremental as it builds on existing methods with specific compensators.
The paper tackled the problem of end-effector formation control for manipulators under external disturbances, achieving the objective by using virtual springs, damping terms, and internal model-based compensators, with simulation results demonstrating effectiveness.
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances; all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach.