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

Author
Valle, D.; Nuño, E.; Basañez, L.; Arana-Daniel, N.
Type of activity
Presentation of work at congresses
Name of edition
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2013
Book of congress proceedings
Proceedings of the IEEE International Conference on Intelligent Robots and Systems
First page
5878
Last page
5883
DOI
https://doi.org/10.1109/IROS.2013.6697208 Open in new window
Project funding
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
Repository
http://hdl.handle.net/2117/22331 Open in new window
Abstract
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...
Citation
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.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Valle, Daniela  (author and speaker )
  • Nuño Ortega, Emmanuel  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )
  • Arana Daniel, Nancy  (author and speaker )