Region Constrained Consensus Control of Flexible-Joint Robot Manipulators
The region constrained consensus of flexible-joint robot manipulators is studied.A consensus control torque for flexible-joint robot manipulators is proposed based on the regional potential functions,which can effectively guarantee the range of the synchronization state of flexible manipulators without calculating the final syn-chronization state,so it is suitable for cooperative control and application of multiple flexible-joint manipulators in the task space.Further more,a sufficient condition for solving region consensus problems is presented based on the structure of network topology.Finally,the effectiveness of the obtained theoretical results is verified by numerical simulations.
万方数据
维普
