Coordination of two robot manipulators based on position measurements only

A. Rodriguez Angeles, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

50 Citations (Scopus)


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
Issue number13
Publication statusPublished - 2001


Dive into the research topics of 'Coordination of two robot manipulators based on position measurements only'. Together they form a unique fingerprint.

Cite this