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Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities | IEEE Conference Publication | IEEE Xplore

Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities


Abstract:

The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical system...Show More

Abstract:

The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers makes use of joint (motor) velocity signals while the other only uses joint positions. The only assumption on the directed and weighted interconnection graph is that it is connected. Further, the interconnection may induce variable time-delays. The paper presents some experiments, using three 3-Degrees of Freedom manipulators, which show the performance of the proposed approaches.
Date of Conference: 03-07 November 2013
Date Added to IEEE Xplore: 02 January 2014
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Conference Location: Tokyo, Japan

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