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 Article
Experimental evaluation of two control schemes for cooperative teleoperation
TL;DR: In this paper, an experimental evaluation of two control architectures for cooperative teleoperation systems based on wave variables is presented and discussed The cooperative control schemes consider two pairs of wave-based teleoperation system, collaborating to carry out operations in a shared remote environment.
Journal ArticleDOI
Series Elastic Actuators-Driven Parallel Robot With Wide-Range Impedance Realization for Balance Assessment and Training
TL;DR: In this paper , a virtual ground robot (VGR) is proposed, which consists of a 3-degree-of-freedom parallel mechanism driven by three series elastic actuators (SEAs).
Proceedings ArticleDOI
Iterative learning control of the redundant upper limb for rehabilitation
TL;DR: A non-linear iterative learning control approach is developed for application to stroke rehabilitation and experimental results confirm its ability to achieve a high level of performance in practice.
MonographDOI
Navigation and manipulation for autonomous underwater dismantling of offshore structures
TL;DR: In this article, the Iterative Closest Point method (ICP) is used to correct position drift of an inertial navigation system, by using a previously obtained coarse map.
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.