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
fDate :
7/1/2004 12:00:00 AM
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;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2004.824965