Operational space synchronization of two robot manipulators through a virtual velocity estimate
Erik Kyrkjebø, Kristin Ytterstad Pettersen · 2007
Two robot manipulators are synchronized in a leader-follower scheme where only joint position measurements of the leader are available. A virtual manipulator is designed to provide a velocity estimate of the unknown leader velocity to the control law of the follower. The closed-loop errors are shown to be uniformly globally practically asymptotically stable.