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Title:
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Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities
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Author:
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Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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Abstract:
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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. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots -- Control systems
-Robots -- Sistemes de control |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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