Abstract: In this paper, a new formulation of the dynamics of a robotic manipulator work environment is presented. The work environment is modeled in a way that permits the robot transition to and ...

Abstract: Sufficient conditions are proved for a robotic manipulator controller so that asymptotic tracking/regulation occurs, independent of dynamic parameter uncertainty, for a certain class of input ...

Abstract: In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate ...

Abstract: An operational method of analysis using nonparametric impulse response models is proposed for the nonparametric analysis and design of feedback control systems. It is based on the algebra of ...