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Title:
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Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays
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Author:
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Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo
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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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Two controllers capable of achieving asymptotic
convergence of position and velocity errors, of the ithmanipulator
within a multiple robot network, are proposed.
The controllers employ adaptive techniques to find an estimate
of the physical parameters of the nonlinear dynamics of the
robot network. Moreover, the controllers can deal with different
connectivity topologies (ring and star) and and can handle timedelays
in the communications. Simulations, using a ten robot
manipulators network with different connectivity topologies,
that confirm the theoretical results are presented. |
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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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