Acceleration consensus for networked motion control of telerobots

Ugur Tumerdem, Kouhei Ohnishi

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ318-323
ページ数6
DOI
出版物ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
Italy
Trento
期間08/3/2608/3/28

    フィンガープリント

ASJC Scopus subject areas

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

これを引用

Tumerdem, U., & Ohnishi, K. (2008). Acceleration consensus for networked motion control of telerobots. : AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 318-323). [4516086] (International Workshop on Advanced Motion Control, AMC; 巻数 1). https://doi.org/10.1109/AMC.2008.4516086