The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A novel adaptive nonlinear control design is developed which achieves modularity between the controller and the adaptive update law. Modularity between the controller/update law design provides flexibility in the selection of different update laws that could potentially be easier to implement or used to obtain faster parameter convergence and/or better tracking performance. For a general class of...
In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened,...
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that...
This paper introduces a method to realize multilateral teleoperation(multi operator/multi robot teleoperation) under time delay. This method provides stability regardless of the size of the delay and good performance including force feedback. We first introduce the four channel based multilateral control scheme to realize multilateral teleoperation and show using small gain theorem that as in traditional...
This paper analyses the L2 stability of four channel teleoperation systems under time delay. It is a well known fact that four channel architecture provides the best performance when no delay is present on the communication channels. However when delay is present four channel systems can not guarantee stability or good performance. The L2 analysis we present using small gain theorem indeed confirms...
We consider a class of linear flexible mechanical systems arising from the dynamics of animal locomotion. A distinctive property of such systems is that the stiffness matrix is asymmetric. Extending the standard notion to this class, we define the natural oscillation as a free response under the damping compensation to achieve marginal stability. As a benchmark, a link chain system in a fluid environment...
In manufacturing industries of metallics molds, various NC machine tools are used. We have already proposed a desktop NC machine tool with compliance control capability to automatically cope with the finishing process of LED lens molds. The NC machine tool has an ability to control the polishing force acting between an abrasive tool and workpiece. The force control method is called impedance model...
As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint...
A mu-synthesis controller of a four mass manipulator arm system with structured uncertainty is presented. The system with uncertainties on parameters of plants such as damping ratios and stiffness of gears is modeled to a LFT form. The process of finding a stabilizing controller for nominal and perturbed system is based on mu-synthesis method. The resulting controller has been tested in standard manipulator...
This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
Unstable periodic orbits of the chaotic passive compass-like biped robot which is an typically impulsive dynamical system are stabilized by using energy-shaping control. Because of impossibly instantaneous regulation of the angular and angular velocity of the passive compass-like biped robot, energy damping control with reference energy calculated by using impulsive control is supposed. Sufficient...
The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition which summarizes the relation between virtual stiffness, viscous damping and delay is proposed. This condition is independent of the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.