Consensus control of flexible joint robots

Abstract : Synchronization of networks composed by fully-actuated robot manipulators has received a lot of attention from the control theory community. Unfortunately, the case of under-actuated robots has not been deeply studied. The aim of this paper is to extend previous results reported by the authors [2] addressing the particular (but of practical interest) case of networks composed by flexible-joint robots. The main feature of the contribution is to consider a change of coordinates, first introduced in [1], to solve the consensus problem assuming the existence of unknown delays in the communication channels. The extensions consist in: the presentation of a control scheme that, in contrast to the one considered in [2], does not require knowledge of the initial conditions; the proof that the controller can also be implemented in Cartesian coordinates; and the statement of the stability properties adopting a Cascaded systems perspective. The usefulness of the contribution is illustrated through numerical simulations.
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Submitted on : Tuesday, January 14, 2014 - 11:12:00 AM
Last modification on : Thursday, April 26, 2018 - 2:31:27 PM

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Sofía Avila-Becerril, G. Espinoza-Perez, Elena Panteley, Roméo Ortega. Consensus control of flexible joint robots. 52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.1-6, ⟨10.1109/cdc.2013.6760222 ⟩. ⟨hal-00930012⟩

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