DocumentCode
1014637
Title
On the control of cooperative robots without velocity measurements
Author
Gudiño-Lau, Jorge ; Arteaga, Marco A. ; Muñoz, Luis A. ; Parra-Vega, Vicente
Author_Institution
DEPFI, Univ. Nacional Autonoma de Mexico, Mexico
Volume
12
Issue
4
fYear
2004
fDate
7/1/2004 12:00:00 AM
Firstpage
600
Lastpage
608
Abstract
One of the main practical problems on dexterous robots is the complexity of integrating a large amount of sensors within a small robot architecture. In this brief, 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. Experimental results are shown to support the developed theory.
Keywords
cooperative systems; dexterous manipulators; observers; robust control; cooperative robots; dexterous robots; linear observer; robot control; robust control; velocity measurement; Force control; Orbital robotics; Robot control; Robot sensing systems; Robotics and automation; Sensorless control; Service robots; Space technology; Velocity control; Velocity measurement; Linear observers; robust control;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2004.824965
Filename
1308190
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