Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Operational space consensus of multiple heterogeneous robots without velocity measurements

Autor
Aldana, C.; Nuño, E.; Basañez, L.; Romero, E.
Tipus d'activitat
Article en revista
Revista
Journal of the Franklin Institute
Data de publicació
2014-03-01
Volum
351
Número
3
Pàgina inicial
1517
Pàgina final
1539
DOI
https://doi.org/10.1016/j.jfranklin.2013.11.012 Obrir en finestra nova
Projecte finançador
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistema multi-mano para tareas complejas de manipulación robotizada
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/22584 Obrir en finestra nova
Resum
This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader follower and the leaderless consensus problems in the operational space. In the leader-follower scenario, the controller ensures that all the robots in the network asymptotically reach a given leader pose (position and orientation), provided that, at least, one follower robot has access to the leader pose. Without a leader pose, in the leaderless problem, the robots asymptot...
Citació
Aldana, C. [et al.]. Operational space consensus of multiple heterogeneous robots without velocity measurements. "Journal of the Franklin Institute", 01 Març 2014, vol. 351, núm. 3, p. 1517-1539.
Paraules clau
COMMUNICATION DELAYS, COORDINATION, EULER-LAGRANGE SYSTEMS, LEADER-FOLLOWING CONSENSUS, MULTIAGENT SYSTEMS, NONLINEAR TELEOPERATORS, QUATERNION, SYNCHRONIZATION, TASK-SPACE, TIME-VARYING DELAYS
Grup de recerca
SIR - Service and Industrial Robotics

Participants

  • Aldana Lopez, Carlos Ivan  (autor)
  • Nuño Ortega, Emmanuel  (autor)
  • Basañez Villaluenga, Luis  (autor)
  • Romero, Eduardo  (autor)