Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
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This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.Abstract:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...read more
Citations
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Journal ArticleDOI
Underlying control strategy of human leg posture and movement
TL;DR: In this article, a simple open-loop motor control scheme for leg motion was proposed based on the general leg motion analysis, and the braking motion by the driver's leg was modeled.
Journal ArticleDOI
LMI-Based Impedance Control Synthesis: A Case Study on Fixed-Stiffness Actuators (FSAs)
Y. C. Huang,N. F. Shao +1 more
TL;DR: In this paper , a frequency-aware linear impedance control synthesis technique is developed for FSAs based on H∞ control theory, which is also suitable for the general robot system in the condition that the robot dynamics is linearised around an equilibrium configuration or compensated with its inverse dynamics model to form an exact linearised system a priori.
Proceedings ArticleDOI
Stable Interaction Control of Networked Lagrangian Systems with Uncertain Dynamics
TL;DR: In this paper, two adaptive controllers with the external torque being directly compensated were proposed to guarantee the coupled stability of the system and render the external torques uniformly asymptotically converge to constant vectors with the robustness to the time- varying delays by exploiting the Laplacian structure of the linear reference dynamics and the dynamic-cascade property of the whole system.
Proceedings ArticleDOI
Controller design of a robotic assistant for the transport of large and fragile objects
TL;DR: In this paper , the authors propose a new collaborative robotic controller that fulfills the main requirements of co-transportation tasks of large and fragile objects: to execute any trajectory in a collaborative mode while minimizing the stress applied on the object by both partners in order to avoid damaging it.
Journal ArticleDOI
Using Repetitive Control to Enhance Force Control During Human–Robot Interaction in Quasi-Periodic Tasks
TL;DR: In this article , the authors investigated the use of repetitive control (RC) to enhance force control during human-robot interaction in quasi-periodic tasks and found that RC can be successfully integrated into force control schemes to improve performance beyond the one achievable with a passive proportional controller.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Book
Introduction to physical system dynamics
R. Robert Rosenberg,Dean Karnopp +1 more
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Dissertation
Practical robustness measures in multivariable control system analysis
TL;DR: A very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived and are able to guarantee feedback system stability in the face of model errors of larger magnitude.
Dissertation
Stability robustness of impedance controlled manipulators coupled to passive environments
TL;DR: Thesis. as discussed by the authors, Mass. Institute of Technology, Dept. of Mechanical Engineering, Boston, Massachusetts, U.S.A. (M.S., 1987).
Practical robustness measures in multivariable control system analysis. Ph.D. Thesis
TL;DR: In this paper, the robustness of linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria, and robustness tests are unified under a common framework based on the nature and structure of model errors.