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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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Posted Content
Variable impedance control and learning -- A review
TL;DR: This survey presents the state-of-the-art of approaches devoted to variable impedance control from control and learning perspectives (separately and jointly), and proposes a new taxonomy for mechanical impedance based on variability, learning, and control.
Journal ArticleDOI
An admittance shaping controller for exoskeleton assistance of the lower extremities
TL;DR: Performance and robust stability are successfully achieved through a constrained optimization that maximizes the system’s gain margins while ensuring the desired location of its dominant poles.
Journal ArticleDOI
uMan: A Low-Impedance Manipulator for Human–Robot Cooperation Based on Underactuated Redundancy
TL;DR: In this paper, an underactuated manipulator based on a macro-mini architecture is designed with a novel passive mini mechanism, which aims at minimizing the impedance, eliminating the nonlinear impedance, and decoupling the human and robot dynamics.
Journal ArticleDOI
Variable Impedance Control and Learning-A Review.
TL;DR: In this article, the authors present the state-of-the-art approaches devoted to variable impedance control from control and learning perspectives (separately and jointly) and propose a new taxonomy for mechanical impedance based on variability, learning, and control.
Proceedings ArticleDOI
Mechanical bandwidth as a guideline to high-performance manipulator design
TL;DR: Mechanical design strategies are introduced to improve performance, including placing a distinct speed reducer at the joint rather than at the motor shaft, limiting the transmission ratio and properly selecting the contact compliance.
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.