Distributed Control for Cooperative Manipulation With Event-Triggered Communication

Cooperative manipulation tasks can be divided into the subtasks of object trajectory tracking and grasp maintenance. Both subtasks typically pose individual requirements on the underlying control objective in terms of accuracy and robustness to disturbances. In this article, we propose a novel distributed impedance control scheme, resulting in a flexible control design to meet the individual-potentially conflicting-impedance goals of the respective subtasks. In order to achieve more efficient use of the communication resource, we propose an event-triggered strategy for the communication between the robotic agents. Robust, stability also in interaction with unknown objects and unknown environments, is guaranteed via passivity-based control design. Simulations and experimental results show that, with the proposed communication strategy, the number of transmissions between agents can be significantly reduced while maintaining the flexibility introduced by the distributed controller.