Task Space Synchronized Control for Multiple Robotic Manipulators

摘要：

　　This paper presents the new synchronization error and cross-coupling error based on algebraic graph theory.By using these novel definitions,a task space synchronized control design procedure is proposed for multiple robotic manipulator systems (MRMS).The rigorous mathematical proof and sufficient simulation experiments are used to lay a foundation and to test the effectiveness of the new design philosophy.It should be mentioned that this paper is an initial step to design task space synchronized control by using the proposed definitions and procedure.Other synchronized control algorithms can be developed by using these principles to address various design conditions for different Lagrangian systems.

关键词： Synchronized control multiple robotic manipulators robot control complex networks Lagrangian systems

作者: ZHAO Dongya LIU Chao ZHU Quanmin MAN Zhihong

作者单位: College of Chemical Engineering,China University of Petroleum,Qingdao,China,266580 Department of Robotics,LIRMM,UMR5506,CNRS-UMII,34095 Montpellier,France College of Chemical Engineering,China University of Petroleum,Qingdao,China,266580;Department of Eng Faculty of Engineering and Industrial Sciences,Swinburne University of Technology,Hawthorn,Melbourne

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1856-1861

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）