Coordination of two robot manipulators based on position measurements only

A. Rodriguez Angeles, H. Nijmeijer

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49 Citaten (Scopus)

Samenvatting

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.
Originele taal-2Engels
Pagina's (van-tot)1311-1323
TijdschriftInternational Journal of Control
Volume74
Nummer van het tijdschrift13
DOI's
StatusGepubliceerd - 2001

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