Master-slave synchronization control of mechanically coupled Robot Manipulators
2007
Different synchronization schemes are considered for controlling a mechanically coupled multi-robot system on a robotized platform. The schemes are briefly presented and compared, before the feasibility of the popular master-slave synchronization scheme used on mechanically coupled robot manipulators is analyzed. Both analytic results for a simplified system of one dimension and results produced by simulation of a generic industrial robot manipulator are presented.
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