Controlled synchronization of heterogeneous robotic manipulators in the task space

Yen Chen Liu; Nikhil Chopra

doi:10.1109/TRO.2011.2168690

Controlled synchronization of heterogeneous robotic manipulators in the task space

Yen Chen Liu
, Nikhil Chopra

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

205 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 language	English
Article number	6036187
Pages (from-to)	268-275
Number of pages	8
Journal	IEEE Transactions on Robotics
Volume	28
Issue number	1
DOIs	https://doi.org/10.1109/TRO.2011.2168690
Publication status	Published - 2012 Feb

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2011.2168690

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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.",

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note = "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{\textquoteright} comments. This work was supported by the National Science Foundation under Grant 0931661.",

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Controlled synchronization of heterogeneous robotic manipulators in the task space

Abstract

All Science Journal Classification (ASJC) codes

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