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
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Robot arm control exploiting natural dynamics
TL;DR: The results in the thesis suggest that the general approach of exploiting natural dynamics is a powerful method for obtaining coordinated dynamic behavior of robot arms.
Proceedings ArticleDOI
Power and impedance scaling in bilateral manipulation
TL;DR: A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value and the application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator.
Journal ArticleDOI
Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation
TL;DR: A sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation by employing Lyapunov stability theory and the stability of the closed-loop system is achieved.
Journal ArticleDOI
Multiple-input, multiple-output system identification for characterization of limb stiffness dynamics.
TL;DR: Results indicate that the approach described here will allow the estimation of endpoint stiffness dynamics in an experimentally efficient manner with minimal assumptions about the specific form of these properties.
Journal ArticleDOI
Stability properties of human reaching movements
Justin Won,Neville Hogan +1 more
TL;DR: Results are shown, showing that a controlled equilibrium point may be used for planning and coordinating multijoint movements, are consistent with an equilibrium point hypothesis.
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.