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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Book ChapterDOI
Physical Interaction via Dynamic Primitives
TL;DR: The composability of dynamic primitives, including mechanical impedances, enables complex tasks, including multi-limb coordination, to be treated as a composite of simpler tasks, each represented by an equivalent network.
Proceedings ArticleDOI
Stability and transparency in bilateral teleoperation
TL;DR: It is shown that the proper use of all four channels is of critical importance in achieving high-performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
Variable Admittance Control with Virtual Stiffness Guidance for Human-Robot Collaboration
TL;DR: A novel variable admittance control with virtual stiffness guidance (VSG) is proposed to improve the performance of HRC by preventing unnecessary changes of the damping parameter by classifying the human intentions in the low-velocity region, which results in smooth movement.
Journal ArticleDOI
Optimization-based teleoperation controller design
TL;DR: In this paper, the trade-off between robustness and performance is considered in a convex optimization problem and the limit of performance achievable with the designed controller, and thus the exact form of the tradeoff between performance and robust stability, can be computed numerically.
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.