Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities
Tipo de documentoTexto en actas de congreso
Fecha de publicación2013
Condiciones de accesoAcceso restringido por política de la editorial
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, using three 3-Degrees of Freedom manipulators, which show the performance of the proposed approaches.
CitaciónValle, 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.