MASTER-SLAVE SYNCHRONIZATION OF ROBOT MANIPULATORS: EXPERIMENTAL RESULTS

Master-slave Synchronization of Robot Manipulators: Experimental Results

This paper presents experimental results for master-slave synchronization of two robot manipulators using a recently developed observer-controller scheme. The paper aims to investigate the value and the limitations of the theory. In particular, the theoretical result of uniform ultimate boundedness of the synchronization errors is investigated. Back-to-back simulation results are also presented...

Master-slave synchronization of Lur'e systems

In this paper we present a suucient condition for master-slave synchronization of Lur'e systems. The scheme makes use of linear full static state feedback. The criterion is based on a Lur'e-Postnikov Lyapunov function for global asymptotic stability of the error system. The condition is basically the same as the one for global asymptotic stability of the Lur'e system, controlled with linear sta...

Master-slave synchronization and the Lorenz equations.

Since the seminal remark by Pecora and Carroll [Phys. Rev. Lett. 64, 821 (1990)] that one can synchronize chaotic systems, the main example in the related literature has been the Lorenz equations. Yet this literature contains a mixture of true and false, and of justified and unsubstantiated claims about the synchronization properties of the Lorenz equations. In this note we clarify some of the ...

Phase Tuning in Synchronization of Nonlinear Master-slave Oscillating Systems Using Decomposition Method

Bilateral control of master-slave manipulators for ideal kinesthetic coupling

In this paper, the analysis and design of master-slave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability ...