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<p>This paper addresses the distributed control problem of networked mobile manipulators (NMMs) in cooperative transportation with 2D formations. The rigid formation control method is considered for the end-effectors to realize the cooperative transportation of rigid bodies. The dynamics of the mobile manipulator is decoupled into the task-space and the null-space. In the task-space, the end-effectors of NMMs are considered as the nodes of a rigid formation while the cooperative transportation is formulated as a rigid formation tracking control problem of end-effectors. Then, a distributed distance-based controller is proposed to reach the directed rigid formation. In the null-space, the mobile base is controlled to track the desired trajectory. Numerical simulation demonstrates the effectiveness of the proposed control method.</p>

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Distributed cooperative control for mobile manipulators: a rigid formation-based method

  • 期刊论文

  • 发表日期：

    2026年3月10日

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  • Zhibin Luo,
  • Qishao Wang,
  • Junjie Li,
  • Yinxiang Zhao,
  • Qingyun Wang

摘要

This paper addresses the distributed control problem of networked mobile manipulators (NMMs) in cooperative transportation with 2D formations. The rigid formation control method is considered for the end-effectors to realize the cooperative transportation of rigid bodies. The dynamics of the mobile manipulator is decoupled into the task-space and the null-space. In the task-space, the end-effectors of NMMs are considered as the nodes of a rigid formation while the cooperative transportation is formulated as a rigid formation tracking control problem of end-effectors. Then, a distributed distance-based controller is proposed to reach the directed rigid formation. In the null-space, the mobile base is controlled to track the desired trajectory. Numerical simulation demonstrates the effectiveness of the proposed control method.