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Control Systems, IEEE

Issue 1 • Date Feb. 1997

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Displaying Results 1 - 10 of 10
  • Robust approximation and control

    Publication Year: 1997 , Page(s): 80 - 87
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1054 KB)  

    An algorithmic procedure has been implemented. Its input data are the frequency samples of a MIMO high order (possibly infinite dimensional) model and its output is a controller for that system. The procedure considers the approximation error as additive uncertainty and designs for robust performance of a mixed sensitivity problem by using H/sup /spl infin// optimal control. For cases where not on... View full abstract»

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  • Teleoperation based on the adjoint Jacobian approach

    Publication Year: 1997 , Page(s): 53 - 62
    Cited by:  Papers (18)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (4180 KB)  

    In this article we introduce a method for telecontrol of nonredundant slave arms based on the adjoint Jacobian approach. Cartesian velocity command inputs are used to teleoperate the slave arm smoothly within the whole workspace, including the vicinity of singularities. Moreover, teleoperation at a codimension one singularity is also possible, yielding specific motion patterns. Those include the m... View full abstract»

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  • Tactile feedback for multifingered dynamic grasping

    Publication Year: 1997 , Page(s): 63 - 71
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (3740 KB)  

    Dynamic grasping force control for a multifingered hand is proposed and investigated. The grasping force of the finger is dynamically adjusted according to the tactile feedback so that each fingertip force always stays inside the friction cone detected by the tactile sensor and the fingertips maintain firm contact without any undesired slip nor detaching from the object while grasping it. The prop... View full abstract»

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  • Recent developments in a mechatronics-oriented design project laboratory

    Publication Year: 1997 , Page(s): 72 - 79
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (3196 KB)  

    This article describes a senior-level undergraduate course in mechatronics/design for mechanical engineers at Polytechnic University in Brooklyn, NY, and presents an overview of the projects developed as part thereof. It is a two-semester course sequence, mandatory for all undergraduate students. Teams are typically formed by groups of three students, and a project is assigned to them at the begin... View full abstract»

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  • Variable damping impedance control of a bilateral telerobotic system

    Publication Year: 1997 , Page(s): 37 - 45
    Cited by:  Papers (25)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (2444 KB)  

    Damping and stiffness control in a telerobotic system allows the programmer to define the master and slave dynamics to suit a given task. Unfortunately, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters for different tasks. It is proposed here that the master and slave damping and stiffness matrices be functionally dependent on sensed and commanded ... View full abstract»

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  • Visions of control

    Publication Year: 1997 , Page(s): 88 - 89
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (216 KB)  

    Technological disciplines are defined by their visions no less than their practices. The long-term, even futuristic, projections of the former serve as beacons, illuminating (it is hoped) the trail for researchers and practitioners who, at any time, are likely to be mired in their quotidian tasks. This is particularly true in the re-engineered world, where the next deadline, milestone, or delivera... View full abstract»

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  • Control for slosh-free motion of an open container

    Publication Year: 1997 , Page(s): 29 - 36
    Cited by:  Papers (57)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (2548 KB)  

    This article describes two methods for controlling the surface of a liquid in an open container as it is being carried by a robot arm. Both methods make use of the fundamental mode of oscillation and damping of the liquid in the container as predicted from a boundary element model of the fluid. The first method uses an infinite impulse response filter to alter the acceleration profile so that the ... View full abstract»

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  • Position-based impedance control of an industrial hydraulic manipulator

    Publication Year: 1997 , Page(s): 46 - 52
    Cited by:  Papers (26)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (2564 KB)  

    This article addresses the problem of impedance control in hydraulic manipulators. Whereas most impedance and hybrid force/position control formulations have focused on electrically driven robots with controllable actuator torques, torque control of hydraulic actuators is a difficult task. A position-based impedance controller (PBIC) is proposed and demonstrated on an existing industrial hydraulic... View full abstract»

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  • An actively compliable probing system

    Publication Year: 1997 , Page(s): 14 - 21
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1340 KB)  

    A new probing mechanism and an associated active compliance control algorithm have been developed for in-circuit test of a PCB (printed circuit board). Commercially available robotic probing devices are incapable of controlling contact force generated when a rigid probe contacts with a solder joint at high speed. This uncontrollable excessive contact force often makes some defects on the surface o... View full abstract»

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  • A distributed control system for flexible materials handling

    Publication Year: 1997 , Page(s): 22 - 28
    Cited by:  Papers (15)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (816 KB)  

    In this research, we are developing a materials handling system where many small, simple actuators cooperate to convey large objects with three degrees of freedom in a plane. The actuators, or cells, are arranged in a regular array which is fixed to a planar surface, and objects are passed over the array. Such an array provides very flexible materials handling in which many objects can be conveyed... View full abstract»

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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.

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