TY - JOUR
T1 - Coordination of two robot manipulators based on position measurements only
AU - Rodriguez Angeles, A.
AU - Nijmeijer, H.
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
U2 - 10.1080/00207170110065893
DO - 10.1080/00207170110065893
M3 - Article
SN - 0020-7179
VL - 74
SP - 1311
EP - 1323
JO - International Journal of Control
JF - International Journal of Control
IS - 13
ER -