Master-Slave Synchronization of Robot Manipulators Driven by Induction Motors

Abstract

This paper presents an approach of master-slave synchronization of robot manipulators driven by induction motors supposing that the full state is available. Considering the input torque of each joint of the robot manipulators as the reference torque for induction motor, a feedback control law is used to synchronize position while track a desired trajectory. Based on Lyapunov analysis is shown that the controller yields semiglobal exponential convergence of the synchronization closed-loop errors. Simulations are provided to demonstrate the effectiveness of the proposed approach.