多机械臂协作搬运时，用分层触发机制实现安全高精度协同控制。
Safe Consensus of Cooperative Manipulation with Hierarchical Event-Triggered Control Barrier Functions
- 基于局部信息的分层事件触发控制，实现位置与姿态一致性协调。
- 相比基线方法，计算开销和通信频率显著降低，仍保证严格安全约束。
- 适合需要实时性与安全性的多机械臂系统，如工业搬运、柔性操作。
多机械臂协同运输重型或大型负载，需在任务空间中保持精确的形变跟踪，同时在动态环境中满足严格的物理安全约束，且受限于有限的通信与实时计算资源。本文提出一种分布式控制框架，通过分层事件触发控制屏障函数（CBFs）实现具安全保证的一致性协调。首先设计了一种仅依赖局部邻近信息的共识协议，确保任务空间中的平移与旋转一致性；在此基础上，构建了三级分层事件触发安全架构，结合风险感知领导选择与平滑切换策略，有效降低在线计算负担。通过两台Franka机械臂在静态障碍物下的真实硬件实验，以及包含动态障碍物的多臂协作仿真，验证了该方法的可行性。结果表明，在严格安全约束下实现了更高的协同精度，相较基线方法显著降低了计算成本与通信频率。
原文摘要 · Abstract (English)
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication and real-time computation budgets. This paper presents a distributed control framework that achieves consensus coordination with safety guarantees via hierarchical event-triggered control barrier functions (CBFs). We first develop a consensus-based protocol that relies solely on local neighbor information to enforce both translational and rotational consistency in task space. Building on this coordination layer, we propose a three-level hierarchical event-triggered safety architecture with CBFs, which is integrated with a risk-aware leader selection and smooth switching strategy to reduce online computation. The proposed approach is validated through real-world hardware experiments using two Franka manipulators operating with static obstacles, as well as comprehensive simulations demonstrating scalable multi-arm cooperation with dynamic obstacles. Results demonstrate higher precision cooperation under strict safety constraints, achieving substantially reduced computational cost and communication frequency compared to baseline methods.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。