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
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;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041700
