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RISSimilarity and Invariance in Scaled Bilateral Telemanipulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the issue of dynamic similarity and intensive property invariance in scaled bilateral manipulation, and offers a design methodology based on these considerations. The methodology ...
Simultaneous Force and Stiffness Control of a Pneumatic Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: 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 ...
Energy Saving in Pneumatic Servo Control Utilizing Interchamber Cross-Flow
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a structure and control approach for the energy saving servo control of a pneumatic servo system. The energy saving approach is enabled by supplementing a standard four-way ...
Simulation of Constrained Mechanical Systems — Part I: An Equation of Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an equation of motion for numerical simulation of constrained mechanical systems with holonomic and nonholonomic constraints. In order to avoid the error accumulation typically ...
Simulation of Constrained Mechanical Systems—Part II: Explicit Numerical Integration
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an explicit to integrate differential algebraic equations (DAEs) method for simulations of constrained mechanical systems modeled with holonomic and nonholonomic constraints. The ...
Multivariable Loop-Shaping in Bilateral Telemanipulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an architecture and control methodology for obtaining transparency and stability robustness in a multivariable bilateral teleoperator system. The work presented here extends a ...
On the Efficiency of Electric Power Generation With Piezoelectric Ceramic
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper analyzes the efficiency of piezoelectric ceramic for purposes of electric power generation. An analytical model is presented which suggests that the primary problem of using PZT for ...
Enhanced Performance and Stability in Pneumatic Servosystems With Supplemental Mechanical Damping
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The authors present a model-based analysis of a position-velocity-acceleration-controlled pneumatic actuator that indicates that supplementing the pneumatic actuator with mechanical damping can ...
On the Observability of Pressure in a Pneumatic Servo Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Pneumatic servo actuators are characterized by highly nonlinear dynamics from spool valve command to cylinder pressure and, as such, are well suited to the use of nonlinear control methods ...
Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. ...