Controlled synchronization of robotic manipulators in the task space

Yen Chen Liu; Nikhil Chopra

doi:10.1115/DSCC2009-2684

Controlled synchronization of robotic manipulators in the task space

Yen Chen Liu, Nikhil Chopra

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1355-1362
Number of pages	8
Edition	PART B
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2684
Publication status	Published - 2010 Jan 1
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: 2009 Oct 12 → 2009 Oct 14

Publication series

Name	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Number	PART B

Other

Other	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	09-10-12 → 09-10-14

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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10.1115/DSCC2009-2684

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Liu, Y. C., & Chopra, N. (2010). Controlled synchronization of robotic manipulators in the task space. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART B ed., pp. 1355-1362). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2684

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title = "Controlled synchronization of robotic manipulators in the task space",

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.",

author = "Liu, {Yen Chen} and Nikhil Chopra",

year = "2010",

month = jan,

day = "1",

doi = "10.1115/DSCC2009-2684",

language = "English",

isbn = "9780791848920",

series = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

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booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

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Liu, YC & Chopra, N 2010, Controlled synchronization of robotic manipulators in the task space. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B edn, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART B, American Society of Mechanical Engineers (ASME), pp. 1355-1362, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 09-10-12. https://doi.org/10.1115/DSCC2009-2684

Controlled synchronization of robotic manipulators in the task space. / Liu, Yen Chen; Chopra, Nikhil.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers (ASME), 2010. p. 1355-1362 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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PY - 2010/1/1

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N2 - 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.

AB - 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.

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BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

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Y2 - 12 October 2009 through 14 October 2009

ER -

Controlled synchronization of robotic manipulators in the task space

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