Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays | IEEE Conference Publication | IEEE Xplore

Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays


Abstract:

Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ith-manipulator within a multiple robot network, are proposed. The con...Show More

Abstract:

Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ith-manipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an estimate of the physical parameters of the nonlinear dynamics of the robot network. Moreover, the controllers can deal with different connectivity topologies (ring and star) and and can handle time-delays in the communications. Simulations, using a ten robot manipulators network with different connectivity topologies, that confirm the theoretical results are presented.
Date of Conference: 18-22 October 2010
Date Added to IEEE Xplore: 03 December 2010
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Conference Location: Taipei, Taiwan

References

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