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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.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.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.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.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorValle, D.; Nuño, E.; Basañez, L.; Arana-Daniel, N.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.publicationNameProceedings IROS 2013

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