Half Shell will be a family affair Tuesday when Robert Randolph takes the stage for the penultimate performance of the free concert series. Randolph, who fronts Robert Randolph and the Family Band, is a New Jersey-born pedal steel guitarist with funk and soul roots. Randolph is joined in the band by family members Marcus Randolph and Lenesha Randolph. Other members are Danyel Morgan and Brett Andrew Haas, along with a rotating rhythm guitarist. The family band has released four albums, worked with Eric Clapton and opened for BB King and the Dave Matthews Band. Though the band has earned success …