Show simple item record

dc.contributor.authorValle, Daniela
dc.contributor.authorNuño, Emmanuel
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.authorArana Daniel, Nancy
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2014-02-25T12:48:39Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationValle, D. [et al.]. Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings IROS 2013". Tokyo: 2013, p. 5878-5883.
dc.identifier.urihttp://hdl.handle.net/2117/21751
dc.description.abstractThe 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, using three 3-Degrees of Freedom manipulators, which show the performance of the proposed approaches.
dc.format.extent6 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Control systems
dc.titleConsensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities
dc.typeConference report
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1109/IROS.2013.6697208
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac13049126
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorValle, D.; Nuño, E.; Basañez, L.; Arana-Daniel, N.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceTokyo
local.citation.publicationNameProceedings IROS 2013
local.citation.startingPage5878
local.citation.endingPage5883


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder