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Distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader

Science China(Technological Sciences) 2014年第5期57卷 905-913页

作者： ZHOU Jin WU XingJie LIU ZengRong Shanghai Institute of Applied Mathematics and Mechanics Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University School of Mathematics and Statistics Hefei Normal University Institute of System Biology Shanghai University

Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable *** this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic *** provide an analysis procedure for the controlled synchronization of such systems with uncertain *** also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated *** with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning ***,we present a simulation example to verify the effectiveness of the proposed algorithms.

关键词： networked Lagrange system redundant robot distributed adaptive control tracking synchronization algorithm

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