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Robotic Manipulator Collisions: Modeling and Simulation
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
Stability Analysis of a Bilateral Teleoperating System
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
An Operational Method for Nonparametric Analysis of Feedback Control Systems
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...