Cooperative Control of Multi-Manipulator Systems

This project aims at investigating the effect of communication constraints on cooperative manipulators. Afterward, the communication constraints will be detailed modeled, based on that the control strategy specifically for the multi-robot system will be developed. The stability of the system under the designed control strategy should be guaranteed, and the performance regarding the execution of the predefined cooperative task should also be assured. Its effectiveness should be verified in both simulations and experiments with the Franka Emika Panda arm. Overall, this work should include theoretical development and experiment evaluations. The final outcome will be presented either in the form of a detailed report or a published paper.

Faculty Supervisor:

Ya-Jun Pan

Student:

Partner:

RPTU Kaiserslautern-Landau

Discipline:

Engineering

Sector:

Technology

University:

Dalhousie University

Program: