TY - JOUR
T1 - Controlled synchronization of heterogeneous robotic manipulators in the task space
AU - Liu, Yen Chen
AU - Chopra, Nikhil
N1 - Funding Information:
Manuscript received October 7, 2010; revised April 2, 2011 and August 16, 2011; accepted September 7, 2011. Date of publication October 10, 2011; date of current version February 9, 2012. This paper was recommended for publication by Associate Editor M. Minor and Editor B. J. Nelson upon evaluation of the reviewers’ comments. This work was supported by the National Science Foundation under Grant 0931661.
PY - 2012/2
Y1 - 2012/2
N2 - 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.
AB - 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.
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U2 - 10.1109/TRO.2011.2168690
DO - 10.1109/TRO.2011.2168690
M3 - Article
AN - SCOPUS:84857033731
SN - 1552-3098
VL - 28
SP - 268
EP - 275
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
M1 - 6036187
ER -