多机械臂在复杂环境中的协同搬运，实现精准轨迹跟踪。
Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
- 分层规划：离线生成满足任务逻辑的轨迹与避障基座路径。
- 在线实时控制：结合逆运动学与连续反馈，保持机械臂协调与稳定。
- 适用于多移动机械臂在狭窄障碍物间的高精度协同操作。
研究移动多机械臂系统在障碍物密集、空间受限环境中执行协作搬运任务的轨迹跟踪问题。任务需在满足时空任务约束的前提下，搬运被抓握物体，同时遵守连续机器人动力学和由障碍物及窄道引起的离散几何约束。为此，提出一种多速率规划与控制框架：离线生成满足时序逻辑公式（STL）的物体轨迹与无碰撞基座足迹，结合在线约束逆运动学与连续时间反馈控制。闭环系统可实现多机械臂协同重构并精确跟踪目标物体运动。在三个刚性抓握物体的Franka Emika Panda移动机械臂上，通过高保真物理仿真进行验证。
原文摘要 · Abstract (English)
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped object while respecting both continuous robot dynamics and discrete geometric constraints arising from obstacles and narrow passages. To address this hybrid structure, we propose a multi-rate planning and control framework that combines offline generation of an STL-satisfying object trajectory and collision-free base footprints with online constrained inverse kinematics and continuous-time feedback control. The resulting closed-loop system enables coordinated reconfiguration of multiple manipulators while tracking the desired object motion. The approach is evaluated in high-fidelity physics simulations using three Franka Emika Panda mobile manipulators rigidly grasping an object.
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