NDLI: Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities

Content Provider	IEEE Xplore Digital Library
Author	Valle, D. Nuno, E. Basanez, L. Arana-Daniel, N.
Copyright Year	2013
Description	Author affiliation: Electron. Dept., Univ. of Guadalajara (UdG), Guadalajara, Mexico (Valle, D.) \|\| Inst. of Ind. & Control Eng. (IOC), Tech. Univ. of Catalonia (UPC), Barcelona, Spain (Basanez, L.) \|\| Dept. of Comput. Sci., Univ. of Guadalajara (UdG), Guadalajara, Mexico (Nuno, E.; Arana-Daniel, N.)
Abstract	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.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5878
Ending Page	5883
File Size	547126
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697208
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Silicon Manipulator dynamics Velocity measurement Position measurement
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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