Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulators with dynamic uncertainties

1996 ◽  
Vol 143 (2) ◽  
pp. 186-190 ◽  
Author(s):  
J. Wang ◽  
S.J. Dodds ◽  
W.N. Bailey
Keyword(s):  
Trajectory Tracking ◽  
Robotic Manipulators ◽  
Rates Of Convergence ◽  
Dynamic Uncertainties

Controlled Synchronization of Robotic Manipulators in the Task Space

2009 ◽  
Author(s):  
YenChen Liu ◽  
Nikhil Chopra
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Task Space ◽  
Numerical Example ◽  
Redundant Robots ◽  
Control Schemes ◽  
Heterogeneous Robots ◽  
Dynamic Uncertainties

Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.

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