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

Yuhong He, Xiaoxiao Li, Zhihao Xu, Xuefeng Zhou, Shuai Li Orcid Logo

Neurocomputing, Volume: 456, Pages: 1 - 10

Swansea University Author: Shuai Li Orcid Logo

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Abstract

SCARA robot is one of the most popularly used robots in industry. The obstacle avoidance feature of multiple 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 robo...

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Published in: Neurocomputing
ISSN: 0925-2312
Published: Elsevier BV 2021
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa56979
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Abstract: SCARA robot is one of the most popularly used robots in industry. The obstacle avoidance feature of multiple 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 avoidance. 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 considered to be the secondary objective as to ensure the priority of safety, is described as a quadratic programming(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.
Keywords: Multi-robot collaboration, obstacle avoidence, kinematic control, constrained optimization, recurrent neural network(RNN), safety
College: College of Engineering
Start Page: 1
End Page: 10