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Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays
dc.contributor.author | Nuño Ortega, Emmanuel |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.author | Ortega, Romeo |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2012-02-10T10:16:50Z |
dc.date.available | 2012-02-10T10:16:50Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Nuño, E.; Basañez, L.; Ortega, R. Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "- The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems". Taipei: 2010, p. 3308-3313. |
dc.identifier.isbn | 978-1-4244-6676-4 |
dc.identifier.uri | http://hdl.handle.net/2117/15051 |
dc.description.abstract | Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ithmanipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an estimate of the physical parameters of the nonlinear dynamics of the robot network. Moreover, the controllers can deal with different connectivity topologies (ring and star) and and can handle timedelays in the communications. Simulations, using a ten robot manipulators network with different connectivity topologies, that confirm the theoretical results are presented. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots--Control systems |
dc.title | Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays |
dc.type | Conference report |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 9598930 |
dc.description.version | Postprint (published version) |
local.citation.author | Nuño, E.; Basañez, L.; Ortega, R. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Taipei |
local.citation.publicationName | - The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 3308 |
local.citation.endingPage | 3313 |