Cooperative distributed model predictive control for robot in-hand manipulation

摘要

Purpose This study aims to process multi-agent system with kinds of limitations and constraints, and consider the robot in-hand manipulation as a problem of coordination and cooperation of multi-fingered hand. Design/methodology/approach A cooperative distributed model predictive control (MPC) algorithm is proposed to perform robot in-hand manipulation. Findings A cooperative distributed MPC approach is formulated for robot in-hand manipulation problem, which enables address complex limitation and constraint conditions in object motion planning, and realizes tracking trajectory of the object more than tracking position of the object. Originality/value This method to implement the moving object task uses the kinematic parameters without the knowledge of dynamic properties of the object. The cooperative distributed MPC scheme is designed to guarantee the movement of the object to a desired position and trajectory at algorithmic level.