“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.

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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}