Acceleration consensus for networked motion control of telerobots

Ugur Tumerdem, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Consensus algorithms basically enable nodes on a graph to dynamically agree on certain values. In this research, a second order consensus algorithm with a servo input, similar to an acceleration controller, is devised; making it possible for robots on a network to agree on their acceleration and track the average of local servo inputs. The agreement on acceleration by the robots employing consensus algorithms is called acceleration consensus. Furthermore it is also shown that teleoperation can be described as a consensus problem and therefore this problem can be solved with consensus algorithms. If the servo inputs of an acceleration consensus algorithm are written as a function of the forces acting on each robot, we can realize stable haptic teleoperation among any number of robots. The experiments verify that acceleration consensus can be realized on various network topologies, enabling haptic teleoperation with multiple teleoperators.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages318-323
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tumerdem, U., & Ohnishi, K. (2008). Acceleration consensus for networked motion control of telerobots. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 318-323). [4516086] https://doi.org/10.1109/AMC.2008.4516086