Master-slave synchronization of robot manipulators: experimental results
| Authors: | Bondhus Anne Karin, Norwegian University of Science and Technology, Norway
Pettersen Kristin Y., Norwegian University of Science and Technology, Norway
Nijmeijer Henk, Eindhoven University of Technology, Netherlands |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | Synchronization, Robot manipulators, Observers, Experimental results, Ultimate boundedness |
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Abstract
This paper presents experimental results for master-slavesynchronization of two robot manipulators using a recentlydeveloped observer-controller scheme. The paper aims toinvestigate the value and the limitations of the theory. Inparticular, the theoretical result of uniform ultimate boundednessof the synchronization errors is investigated.Back-to-back simulation results are also presented.
