DocumentCode
2824478
Title
Operational space synchronization of two robot manipulators through a virtual velocity estimate
Author
Kyrkjebø, Erik ; Pettersen, Kristin Y.
Author_Institution
SINTEF Inf. & Commun. Technol., Trondheim
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
1052
Lastpage
1057
Abstract
Two robot manipulators are synchronized in a leader-follower scheme where only joint position measurements of the leader are available. A virtual manipulator is designed to provide a velocity estimate of the unknown leader velocity to the control law of the follower. The closed-loop errors are shown to be uniformly globally practically asymptotically stable.
Keywords
asymptotic stability; closed loop systems; control system synthesis; manipulators; position control; synchronisation; velocity control; asymptotic stability; closed-loop error; control design; joint position measurement; leader-follower scheme; operational space synchronization; robot manipulator; virtual velocity estimate; Acceleration; Actuators; Control systems; Kinematics; Manipulator dynamics; Orbital robotics; Position measurement; Robots; Synchronization; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434605
Filename
4434605
Link To Document