“Operational space synchronization of two robot manipulators through a virtual velocity estimate”

Authors: Erik Kyrkjebø and Kristin Y. Pettersen,
Affiliation: SINTEF and NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 2, pp. 59-68.

Keywords: Robot manipulator, synchronization, observer, nonlinear, virtual

Abstract: Two robot manipulators are synchronized in a leader-follower scheme where only joint position measurements of the leader are available. A virtual manipulator is designed to provide a velocity estimate of the unknown leader velocity to the control law of the follower. The closed-loop errors are shown to be uniformly globally practically asymptotically stable.

PDF PDF (227 Kb)        DOI: 10.4173/mic.2008.2.3

DOI forward links to this article:
[1] Erik Kyrkjebø (2015), doi:10.4173/mic.2015.2.3
[2] Yassine Bouteraa and Ismail Ben Abdallah (2016), doi:10.3103/S0146411616050023
[3] Jukka Parkkinen, Niko Nevaranta, Markku Niemela, Tuomo Lindh and Juha Pyrhonen (2018), doi:10.1109/EPEPEMC.2018.8521994
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BibTeX:
@article{MIC-2008-2-3,
  title={{Operational space synchronization of two robot manipulators through a virtual velocity estimate}},
  author={Kyrkjebø, Erik and Pettersen, Kristin Y.},
  journal={Modeling, Identification and Control},
  volume={29},
  number={2},
  pages={59--68},
  year={2008},
  doi={10.4173/mic.2008.2.3},
  publisher={Norwegian Society of Automatic Control}
};