Multi‐Manipulator Collaboration Based on Topology Transformation

ABSTRACT For solving the problem of dynamic task topology change in multi‐manipulator cooperative system, a distributed control scheme based on topology transformation is proposed. In this scheme, a topological transformation mechanism is introduced so that the multi‐manipulator cooperative system dynamically adapts to the multi‐stage tasks with topological changes. To facilitate the solution of the problem, the distributed scheme is converted into an optimization problem. In addition, a gradient neural network solver with an activation function is designed, which greatly improves the convergence speed of the solver. Theoretical analysis is given, which confirms the convergence of the solver. Furthermore, the effectiveness of the proposed scheme is demonstrated.