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
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;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434605
