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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 asymptotically reach a pose of consensus. The controller is a simple distributed proportional plus clamping injection (P+d) scheme which does not require velocity measurements. A singularity-free representation, unit quaternions, is used to describe the orientation of each manipulator. The paper presents some simulations, with a network of six 6-Degrees-of-Freedom (DoF) manipulators, and experiments, with a network of three 6-DoF manipulators, to show the effectiveness of the proposed controller. (C) 2013 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
CitationAldana, 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.
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