Experimental verification of distributed event-based control of multiple unifunctional manipulators

Abstract

Most of the control schemes developed for cooperation of multiple robots use centralized approach, hence the complexity of a system increases with an increase in the number of robots or complexity of an individual robot. Distributed control and event-based control approaches have been applied to a non-mobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive. Computer simulations show the applicability of these schemes for such a simple and under-actuated system. This paper extends the same discussion to a real-life experimental implementation. The results have proved the applicability of these control schemes for the proposed systems, and hence have opened new doors towards further research.