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
How to Control Robots Interacting with Dynamic Environment
TL;DR: By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system and very specific kinds of dynamic environments.
Journal ArticleDOI
Input-Admittance Passivity Compliance for Grid-Connected Converters With an LCL Filter
Enrique Rodriguez-Diaz,Francisco D. Freijedo,Josep M. Guerrero,Juan-Alberto Marrero-Sosa,Drazen Dujic +4 more
TL;DR: The designs of the LCL filter parameters and the discrete controller are addressed systematically, and suitable design guidelines are provided, and a passive input-admittance shaping is obtained.
Journal ArticleDOI
Neurobiological and neurorobotic approaches to control architectures for a humanoid motor system
TL;DR: This work seeks to understand the principles of motor learning at this interface using a multidisciplinary approach and believes this approach will prove relevant to the development of biomimetic control architectures for humanoid robots.
Journal ArticleDOI
Collision: Modeling, simulation and identification of robotic manipulators interacting with environments
TL;DR: The present paper introduces a framework for collision identification in robotic tasks based on Artificial Neural Networks (ANNs) and provides fast and relatively reliable identification of the collision attributes.
Proceedings ArticleDOI
Characterization and control of a screw-driven robot for neurorehabilitation
TL;DR: In this paper, a screw-driven module for neuro-rehabilitation therapy robots is described, and the authors evaluate the actuator and control system bandwidths and discuss a series of experiments to characterize the friction, gravitational force, and effective endpoint inertia.
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.