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
Link To Document :
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