Operational space synchronization of two robot manipulators through a virtual velocity estimate
Erik Kyrkjebø, Kristin Y. Pettersen
Modeling, Identification and Control · 2008
doi:10.4173/mic.2008.2.3 (opens in a new tab)
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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.
Abstract licence: CC BY
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