... Robots ,” IEEE Control Syst. Mag. , 11 ( 2 ), pp. 24 – 30 . 10.1109/37.67672 [2] Sage , H. G. , Mathelin , M. F. D. , and Ostertag , E. , 1999 , “ Robust Control of Robot Manipulators: A Survey ,” Int. J. Control , 72 ( 16 ), pp. 1498 – 1522 . 10.1080/002071799220137 [3...

.... The proposed design is solvable using commercially available software and is shown to have important advantages over the classical emulation approach that has been used to solve similar problems. The applicability of the proposed techniques in the robotics field is thoroughly discussed from both the modeling...

.... The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty. 27 11 2007 14 07 2008 08 12 2008 actuators asymptotic...

...Xiangrong Shen; Michael Goldfarb This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing...

... region. To improve the speed of response, the decay rate constraint is imposed when deriving the stability conditions with Lyapunov stability criterion. To design TSFRC with the linear matrix inequality (LMI) solver, all stability conditions are represented in terms of LMIs. Finally, a two-link robot...

...Z. Doulgeri; A. Golfakis This paper refers to the control of the position and contact forces of a compliant rectangular object grasped by a pair of robot fingers for the planar case, using input-output feedback linearization techniques. Point contact with friction is assumed and the linearizing...

...Ho-Hoon Lee This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link...

... civil engineering fluid dynamics control engineering power systems mechanical engineering bond graphs robots Professor Henry Martyn Paynter Professor Emeritus Henry Martyn (“Hank”) Paynter, a member of the Massachusetts Institute of Technology (MIT) faculty from 1946–85, died...

...Hui-Liang Jin; M. Zackenhouse This paper focuses on modeling the dynamics of a yoyo—a popular toy, which presents a challenging task for robotic control. A dynamic two-degree-of-freedom (DOF) model of the yoyo with a unilateral constraint is first proposed. The flight of the yoyo is naturally split...

..., and the state tracking error vector of the plant is driven toward the origin of the phase space simultaneously. The paper gives the analysis of the equivalence between the two sliding motions and demonstrates the performance of the algorithm on a three degrees of freedom, anthropoid robotic manipulator...

...T. S. Liu; W. S. Lee In order to make a robot precisely track desired periodic trajectories, this work proposes a sliding mode based repetitive learning control method, which incorporates characteristics of sliding mode control into repetitive learning control. The learning algorithm not only...

...Glenn K. Klute; Blake Hannaford The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled...

...Alberto Bemporad; Mauro Di Marco; Alberto Tesi In this paper, the wall-following problem for low-velocity mobile robots, equipped with incremental encoders and one sonar sensor, is considered. A robust observer-based controller, which takes into account explicit constraints on the orientation...

...David Bevly; Steven Dubowsky; Constantinos Mavroidis A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots...