Controlled synchronization of robotic manipulators in the task space

Yen Chen Liu, Nikhil Chopra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.

Original languageEnglish
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1355-1362
Number of pages8
EditionPART B
ISBN (Print)9780791848920
DOIs
Publication statusPublished - 2010 Jan 1
Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
Duration: 2009 Oct 122009 Oct 14

Publication series

NameProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
NumberPART B

Other

Other2009 ASME Dynamic Systems and Control Conference, DSCC2009
CountryUnited States
CityHollywood, CA
Period09-10-1209-10-14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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