Controlled synchronization of heterogeneous robotic manipulators in the task space

Yen Chen Liu, Nikhil Chopra

Research output: Contribution to journalArticlepeer-review

154 Citations (Scopus)

Abstract

Passivity-based control has emerged as an important paradigm for synchronization of networked robotic systems. Despite the practical utility of task-space algorithms, the previous results focused on joint-space synchronization and were primarily derived for kinematically identical manipulators. Hence, in this paper, the problem of task-space synchronization of (possibly redundant) heterogeneous robotic systems is studied. By exploiting passivity-based synchronization results that are developed previously, an adaptive control algorithm is proposed to guarantee task-space synchronization of networked robotic manipulators in the presence of dynamic uncertainties and time-varying communication delays. To demonstrate the efficacy of the proposed framework, numerical simulations and experiments are conducted with redundant and nonredundant manipulators, respectively.

Original languageEnglish
Article number6036187
Pages (from-to)268-275
Number of pages8
JournalIEEE Transactions on Robotics
Volume28
Issue number1
DOIs
Publication statusPublished - 2012 Feb

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Controlled synchronization of heterogeneous robotic manipulators in the task space'. Together they form a unique fingerprint.

Cite this