By Topic

IEEE Control Systems

Issue 1 • Feb. 1996

Filter Results

Displaying Results 1 - 13 of 13
  • Miniature robots for a desktop flexible micro manufacturing system

    Publication Year: 1996, Page(s):6 - 12
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1708 KB)

    This article describes the basic structure and performance of miniature robots which incorporate micro-tools and microprobes to produce micro-devices such as LSI materials. In the experiment, typical results at the microscopic level, such as fine grating and micro indenting, are demonstrated. It is suggested that a strategy of combining aspects in a centralized and distributed manner might be usef... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experimental study of biped dynamic walking

    Publication Year: 1996, Page(s):13 - 19
    Cited by:  Papers (57)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1435 KB)

    An experimental study of a biped robot is presented. A new scheme named the "linear inverted pendulum mode" is utilized for controlling a biped walking on rugged terrain. The authors developed a six-DOF biped robot, "Meltran II," which has lightweight legs and moves in a two-dimensional vertical plane. To investigate the effects not well discussed in the theory, the authors carried out two experim... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • μ-synthesis control for a walking robot

    Publication Year: 1996, Page(s):20 - 25
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (875 KB)

    Proposes using two under-actuated robotic systems as two legs of a walking machine. Since the ankle joints of both legs have no actuation, the walking machine remains upright only when it is balanced via a computer-controller. The design of a stabilizing controller for one under-actuated leg, using a μ-synthesis approach, is explained in detail. The system at the equilibrium can be represe... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Vibration control of a micro/macro-manipulator system

    Publication Year: 1996, Page(s):26 - 31
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (663 KB)

    Inertial force damping control by micro-manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The damping controller, developed using classical control theory, is added to the existing control system. Real-time measurements of macro-manipulator flexibility are used to adjust the motion of the micro-manipulator to counteract structural vibrations. Experi... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Force regulation and contact transition control

    Publication Year: 1996, Page(s):32 - 40
    Cited by:  Papers (79)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (876 KB)

    In this article, a new sensor-referenced control method using positive acceleration feedback together with a switching control strategy is developed for robot impact control and force regulation. The robot dynamic model is feedback-linearized and decoupled for the free-motion mode, the phase-transition mode, and the constrained-motion mode. Considering the detection of the impact as an event, the ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Application of discrete-event-system theory to flexible manufacturing

    Publication Year: 1996, Page(s):41 - 48
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (934 KB)

    The anticipated extensive use of flexible-manufacturing workcells in the future has encouraged recent research efforts on the development of automatic supervisory-control methodologies. However, despite intensive research on the theoretical aspects of the control of manufacturing workcells, modeled as discrete-event systems (DES), a limited amount of research has been reported on the implementatio... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experiments in adaptive model-based force control

    Publication Year: 1996, Page(s):49 - 57
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (896 KB)

    Reports experiments with a class of model-based adaptive force control algorithms for robot arms. The problem addressed in this article is the control of robots whose motion is constrained by point contact between the robot tool and a smooth rigid environment or workpiece. Manufacturing applications for force control include a great variety of commonplace tasks, such as grinding, polishing, buffin... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 50 years of progress in measuring and controlling industrial processes

    Publication Year: 1996, Page(s):62 - 66
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (719 KB)

    Looking back at measurement and control technologies during the past 50 years, we have seen the field change dramatically. We've witnessed the transition from manual and mechanical technology to pneumatic, electromechanical, electronic, and today's digital and information-based world. Along the way, the tools we use to do our jobs have changed just as dramatically, and thus the training and educat... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • State space computations using MapleV

    Publication Year: 1996, Page(s):70 - 77
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (967 KB)

    The development of algorithms needed for the analytic solution of state space design equations using a computer algebra system (MapleV) is presented in this article. These calculations involve matrix manipulations, eigenvalue-eigenvector determinations, Laplace and inverse Laplace transformations, Z and inverse Z transformations, which are complex, tedious, and error prone, even for simple example... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Digital Control: A State Space Approach [BOOKSHELF]

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (336 KB)
    Freely Available from IEEE
  • Control Engineering: A Modern Approach [BOOKSHELF]

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (497 KB)
    Freely Available from IEEE
  • Dynamical Systems and Automatic Control Systems [BOOKSHELF]

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (329 KB)
    Freely Available from IEEE
  • Multitarget-Multisensor Tracking: Principles and Techniques [BOOKSHELF]

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (991 KB)
    Freely Available from IEEE

Aims & Scope

As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Jonathan P. How
jhow@mit.edu