Leader-follower scheme for position control of 3GDL manipulator robots
This paper presents the design of a position control strategy for a pair of manipulator robots with 3 degrees of freedom (3GDL). A leader-follower scheme is used for the design of the strategy, where the leader robot is in charge of following a trajectory, while the follower robot must position itse...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2024 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/12357 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/12357 |
| Access Level: | acceso abierto |
| Palabra clave: | Anthropomorphic robot Leader-follower scheme kinematics trajectory tracking position control Robot antropomórfico Esquema líder-seguidor Cinemática Seguimiento de trayectoria Control de posición |
| Sumario: | This paper presents the design of a position control strategy for a pair of manipulator robots with 3 degrees of freedom (3GDL). A leader-follower scheme is used for the design of the strategy, where the leader robot is in charge of following a trajectory, while the follower robot must position itself at a certain distance with respect to the leader, i.e., it converges to a desired formation. The theoretical results obtained are validated numerically. |
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