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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Proceedings ArticleDOI
Impedance-reflecting teleoperation with a real-time evolving neural network controller
TL;DR: A real-time evolving neural network controller (RTENNC) for controlling teleoperation systems with uncertainties is presented and the ability of simultaneous position following and force tracking between the master and slave for changing environment impedances was higher for the RTENNC.
Journal ArticleDOI
Multidirectional compliance and constraint for improved robotic deburring. Part 2: improved bracing
TL;DR: In this article, a method for both improving the positioning capability and increasing the effective stiffness (bracing) of a robotic manipulator through multidirectional compliance and constraint is presented.
Proceedings ArticleDOI
Contact stability in model-based force control systems of robot manipulators
TL;DR: In this article, the authors analyze the stability of four well-known model-based force control systems: hybrid force control, resolved acceleration based force control (SAC), stiffness control, and impedance control.
Journal ArticleDOI
Variable stiffness control for SEAs in rehabilitation training
TL;DR: A novel real-time parallel variable stiffness control method is proposed based on cascade impedance controller which can regulate the stiffness by impedance approximation and simulation and experimental results are provided to validate the stiffness adjustment method during the rehabilitation process.
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.