Coordination of two robot manipulators based on position measurements only

A. Rodriguez Angeles, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

49 Citations (Scopus)

Abstract

In this note we propose a controller that solves the problem of coordination of two (or more) robots, under a master-slave scheme, in the case when only position measurements are available. The controller consists of a feedback control law, and two non-linear observers. It is shown that the controller yields ultimate uniformly boundedness of the closed loop errors, a relation between this bound and the gains on the controller is established. Simulation results on two twolink robot systems show the predicted convergence performance.
Original languageEnglish
Pages (from-to)1311-1323
JournalInternational Journal of Control
Volume74
Issue number13
DOIs
Publication statusPublished - 2001

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