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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Proceedings ArticleDOI
Impedance control for human-robot interaction with an adaptive fuzzy approach
Ping Li,Shuzhi Sam Ge,Chen Wang +2 more
TL;DR: In this paper, an impedance control with adaptive fuzzy approach is proposed to guarantee the safety of the human-robot interaction, by introducing a coordinate transformation, the control objective to track a desired impedance model is converted to the convergence of an error signal.
Proceedings ArticleDOI
Teleoperation with memoryless, monotone, and bounded environments: A Zames-Falb multiplier approach
TL;DR: This initial work considers that the environment can be described by a memoryless, monotone, and bounded nonlinearity, and Zames-Falb multipliers can be introduced to relax the conservatism of current state-of-the-art stability conditions.
Journal ArticleDOI
Is equilibrium-point control all there is to coding movement and do insects do it, too ?
Journal ArticleDOI
Brain systems have a way of reconciling opposite views of neural processing ; the motor system is no exception
Proceedings ArticleDOI
Task-space/joint-space damping transformations for passive redundant manipulators
TL;DR: It is found that a redundant wrist has a broader range of realizable damping matrices than a non-redundant wrist and many realizable joint-space matrices are shown to exist which are discovered by linear transformations.
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.