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“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.

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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

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  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},
  publisher={Norwegian Society of Automatic Control}


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