Collaboration of multiple SCARA robots with guaranteed safety using recurrent neural networks

[摘要] SCARA robot is one of the most popularly used robots in industry. The obstacle avoidance feature of mul-tiple SCARA robot collaboration is essential and prominent, which can be used to support multiple robots to accomplish not only more sophisticated tasks but also more efficient than individual robot. This paper mainly focuses on studying the problem of simultaneous multi-robot coordination and obstacle avoid-ance. A cooperative kinematic control problem of multiple robot manipulators, collision avoidance is taken into account to be the primary task as an inequality constraint and trajectory planning task is con-sidered to be the secondary objective as to ensure the priority of safety, is described as a quadratic pro-gramming (QP) problem. Then, a recurrent neural network (RNN) based dynamic controller is designed to solve the formulated QP problem recursively. The convergence of the designed neural network is proved through Lyapunov analysis. With three SCARA planar robots, the effectiveness of the proposed controller is validated through numerical simulations. As observed in the results, when the minimal distance between robots is less than the setting safety distance, the collision avoidance strategy reacts to impel robots to avoid collision, which achieves the primary objective for obstacle avoidance; otherwise, the robot performs the desired trajectory tracking task. (c) 2021 Elsevier B.V. All rights reserved.

[发布日期] 2021-10-07

[关键词] Multi-robot collaboration;Obstacle avoidence;Kinematic control;Constrained optimization;Recurrent neural network(RNN);Safety