Coordination of Rigid and Flexible Joint Robot Manipulators
In this paper we address the problem of position coordination of robot manipulators. Two coordinating controllers are presented, one for rigid joint robots, and one for flexible joint robots. In both cases the coordination system is based on a master-slave scheme and only position measurements are required.
The proposed controllers consist of a feedback control law and two nonlinear observers. The controller for rigid joint robots yields semi-global ultimate uniformly boundedness of the closed loop errors and a relation between the bound of the errors and the gains on the controller is established. For flexible joint robots only local convergence is established. Experimental results show the predicted convergence performance.
KeywordsRobot Manipulator Joint Robot Slave Robot Joint Flexibility Coordination Error
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