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Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities

Autor
Valle, D.; Nuño, E.; Basañez, L.; Arana-Daniel, N.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems
Any de l'edició
2013
Llibre d'actes
Proceedings of the IEEE International Conference on Intelligent Robots and Systems
Pàgina inicial
5878
Pàgina final
5883
DOI
https://doi.org/10.1109/IROS.2013.6697208 Obrir en finestra nova
Projecte finançador
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/22331 Obrir en finestra nova
Resum
The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers makes use of joint (motor) velocity signals while the other only uses joint positions. The only assumption on the directed and weighted interconnection graph is that it is connected. Further, the interconnection may induce variable time-delays. The paper presents some experiments...
Citació
Valle, D. [et al.]. Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the IEEE International Conference on Intelligent Robots and Systems". Tokyo: 2013, p. 5878-5883.
Grup de recerca
SIR - Service and Industrial Robotics

Participants

  • Valle, Daniela  (autor ponent)
  • Nuño Ortega, Emmanuel  (autor ponent)
  • Basañez Villaluenga, Luis  (autor ponent)
  • Arana Daniel, Nancy  (autor ponent)