DocumentCode
2375917
Title
Control of cooperative robots without velocity measurements
Author
Arteaga, Marco A. ; Munoz, Luis A.
Author_Institution
Seccion de Electrica, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Volume
3
fYear
2002
fDate
2002
Firstpage
2837
Abstract
One of the main practical problems with dexterous robots is the complexity of integrating a large amount of sensors within a small robot architecture. In this paper, the control of cooperative robots without using velocity measurements is considered. Our main purpose is to analyze the feasibility of avoiding velocity measurements to manipulate an object firmly.
Keywords
asymptotic stability; control system synthesis; decentralised control; dexterous manipulators; multi-robot systems; observers; position control; asymptotic stability; control law; cooperative dexterous robot control; decentralized control algorithm; object manipulation; observer law; sensor integration complexity; small robot architecture; tracking control problem; velocity measurement avoidance; Control systems; Force control; Orbital robotics; Robot control; Robot sensing systems; Robotics and automation; Service robots; Space technology; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041700
Filename
1041700
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