Task Space Consensus of Heterogeneous Robots With Time-Delays and Without Velocity Measurements

2021 ◽  
Vol 5 (5) ◽  
pp. 1525-1530
Author(s):  
Carlos I. Aldana ◽  
Luis Tabarez ◽  
Emmanuel Nuno ◽  
Emmanuel Cruz-Zavala
Keyword(s):  
Time Delays ◽  
Task Space ◽  
Velocity Measurements ◽  
Heterogeneous Robots

Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements

2016 ◽  
Vol 46 (10) ◽  
pp. 2386-2398 ◽  
Author(s):  
Xinwu Liang ◽  
Hesheng Wang ◽  
Yun-Hui Liu ◽  
Weidong Chen ◽  
Guoqiang Hu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Space Velocity ◽  
Robotic Manipulators ◽  
Task Space ◽  
Velocity Measurements ◽  
Cooperative Tracking

Operational space consensus of multiple heterogeneous robots without velocity measurements

2014 ◽  
Vol 351 (3) ◽  
pp. 1517-1539 ◽  
Author(s):  
Carlos I. Aldana ◽  
Emmanuel Nuño ◽  
Luis Basañez ◽  
Eduardo Romero
Keyword(s):  
Velocity Measurements ◽  
Operational Space ◽  
Heterogeneous Robots

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.

scholarly journals Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements

2018 ◽  
Vol 51 (13) ◽  
pp. 204-209 ◽  
Author(s):  
Carlos I. Aldana ◽  
Emmanuel Cruz ◽  
Emmanuel Nuño ◽  
Luis Basañez
Keyword(s):  
Time Delays ◽  
Velocity Measurements ◽  
Operational Space
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