Operational space synchronization of two robot manipulators through a virtual velocity estimate

被引：0
|
作者：
Kyrkjebo, Erik [1 ,2 ]
Pettersen, Kristin Y. [2 ]
机构：
[1] SINTEF Informat & Commun Technol, Dept Appl Cybernet, NO-7465 Trondheim, Norway
[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway
来源：
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Two robot manipulators are synchronized in a leader-follower scheme where only joint position measurements of the leader are available. A virtual manipulator is designed to provide a velocity estimate of the unknown leader velocity to the control law of the follower. The closed-loop errors are shown to be uniformly globally practically asymptotically stable.
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页码：3653 / +
页数：3
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