Controlled synchronization of heterogeneous robotic manipulators in the task space

Yen Chen Liu, Nikhil Chopra

Research output: Contribution to journalArticlepeer-review

171 Citations (Scopus)


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
Issue number1
Publication statusPublished - 2012 Feb

All Science Journal Classification (ASJC) codes

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


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