Coordination of two robot manipulators based on position measurements only

In this note we propose a controller that solves the problem of coordinatio n of two (or more) robots, under a master-slave scheme, in the case when on ly position measurements are available. The controller consists of a feedba ck control law, and two non-linear observers. It is shown that the controll er yields ultimate uniformly boundedness of the closed loop errors, a relat ion between this bound and the gains on the controller is established. Simu lation results on two two-link robot systems show the predicted convergence performance.