Master-slave synchronization control of mechanically coupled Robot Manipulators
Master thesis
Permanent lenke
http://hdl.handle.net/11250/259500Utgivelsesdato
2007Metadata
Vis full innførselSamlinger
Sammendrag
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.