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Leader-follower and leaderless consensus in networks of flexible-joint manipulators

Autor
Nuño, E.; Valle, D.; Sarras, I.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
European journal of control
Data de publicació
2014-09-01
Volum
20
Número
5
Pàgina inicial
249
Pàgina final
258
DOI
https://doi.org/10.1016/j.ejcon.2014.07.003 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/2117/24462 Obrir en finestra nova
Resum
This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the study is focused on networks composed of nonidentical flexible-joint robot manipulators. Through a straightforward Lyapunov stability analysis, it is established that a simple control law provides a solution to the leader-follower consensus problem, provided that at least one foll...
Citació
Nuño, E. [et al.]. Leader-follower and leaderless consensus in networks of flexible-joint manipulators. "European journal of control", 01 Setembre 2014, vol. 20, núm. 5, p. 249-258.
Paraules clau
ALGORITHMS, CONTROLLER, COORDINATION, Decentralized control, ELASTIC JOINTS, Flexible arms, LAGRANGE SYSTEMS, MULTIAGENT SYSTEMS, Network of robots, ROBOTS, SWITCHING TOPOLOGY, SYNCHRONIZATION, TRACKING
Grup de recerca
SIR - Service and Industrial Robotics

Participants