Decentralized Control of Cooperative Robots without Velocity-Force Measurements

Authors:	Arteaga Marco Antonio, Universidad Nacional Autonoma de Mexico, Mexico Martinez-Rosas Juan C., Universidad Nacional Autonoma de Mexico, Mexico Castillo-Sanchez Adrian M., Universidad Nacional Autonoma de Mexico, Mexico
Topic:	4.3 Robotics
Session:	Positioning and Estimation
Keywords:	Cooperative robot systems, observer design

Abstract

One of the main practical problems on cooperative robots is the complexity of integrating a large amount of expensive velocity/force sensors. In this paper, the control of cooperative robots using only joint measurements is considered to manipulate an object firmly. Experimental results are shown to support the developed theory.