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
Dissertation
Haptic Teleoperation for Robotic-Assisted Surgery
TL;DR: In this article, a schema de commande de teleoperation base modele d'interaction (robot-tissue) is proposed, based on the analysis of passivite du robot-environnement.
Journal ArticleDOI
Information processing styles and strategies: Directed movement, neural networks, space and individuality
Journal ArticleDOI
Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
Julien M. Audet,Clément Gosselin +1 more
TL;DR: This paper extends the concept of underactuated redundancy for physical human–robot interaction (pHRI) in a context of industrial assembly by introducing a novel 1-dof gravity balanced rotational manipulator.
Posted Content
Unified Necessary and Sufficient Conditions for the Robust Stability of Interconnected Sector-Bounded Systems
Saman Cyrus,Laurent Lessard +1 more
TL;DR: In this article, the authors present a similar stability condition, expressed in terms of relations defined on a general semi-inner product space, which can be specialized in a variety of ways.
Journal ArticleDOI
Equilibrium point control of a robot manipulator using biologically-inspired redundant actuation system
TL;DR: To generate human arm-like compliant motion, this study implements the equilibrium point control on a robot manipulator using redundant actuation: two actuators are installed on each joint: one to control the joint position and the other tocontrol the joint stiffness, respectively.
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.