Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
Reads0
Chats0
TLDR
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
More filters
Proceedings ArticleDOI
Sparse Online Gaussian Process Impedance Learning for Multi-DoF Robotic Arms
Lixu Deng,Zhiwen Li,Yongping Pan +2 more
TL;DR: In this article, a gradient-descent (GD) impedance learning approach with a limited iteration number was proposed to make robots more compliant by minimizing an objective function, however, due to the nature of GD optimization, impedance parameters can not be adjusted in time by this approach, resulting in degraded robot compliance.
Proceedings ArticleDOI
Relationship of position-based impedance control to explicit force control: theory and experiments
TL;DR: Experimental results verify the relationship between gains in an impedance controller and its equivalent explicit force controller is shown true only for torque-based formulations of impedance control and a new relationship is derived for a position-based impedance control.
Journal ArticleDOI
Comment on “The equivalence of second-order impedence control and proportional gain explicit force control.”
TL;DR: It is shown that one form of an impedance controller is equivalent to proportional gain explicit force control in certain interaction situations and that the equivalence applies only to a limited set of situations and to a particular impedance controller.
Proceedings ArticleDOI
Variable Damping Control of a Robotic Arm to Improve Trade-off between Agility and Stability and Reduce User Effort
TL;DR: It is demonstrated that humans can extract the benefits of the variable damping controller in the context of pHRI, as it significantly improves the trade-off between agility and stability and reduces user effort in comparison to fixed damping controllers.
References
More filters
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.