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

Autor:	Nuño Ortega, Emmanuel, Basañez Villaluenga, Luis|||0000-0002-5599-1636, Ortega, Romeo
Přispěvatelé:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Předmět:	Computer Science::Robotics Robots -- Sistemes de control Robots--Control systems Informàtica::Robòtica [Àrees temàtiques de la UPC]
Zdroj:	Recercat. Dipósit de la Recerca de Catalunya instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC)
Popis:	Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ithmanipulator 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 timedelays in the communications. Simulations, using a ten robot manipulators network with different connectivity topologies, that confirm the theoretical results are presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::7836a3be487bffc6a31a77c77f75cde9 http://hdl.handle.net/2117/15051 Zobrazit plný text záznamu