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IEEE Control Systems

Issue 1 • Date Feb 1995

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Displaying Results 1 - 8 of 8
  • The swing up control problem for the Acrobot

    Publication Year: 1995, Page(s):49 - 55
    Cited by:  Papers (290)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    Underactuated mechanical systems are those possessing fewer actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobile robots, and robot models that include actuator dynamics and rigid body dynamics together. Complex internal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited by ... View full abstract»

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  • Ultrasonic emission tactile sensing

    Publication Year: 1995, Page(s):61 - 69
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This article describes an ongoing study for a new type of tactile sensing device which is based on instantaneous localization of acoustic emissions caused by touch and/or contact movement. The authors assume a sensor structure which consists of a flexible, spherical, fingertip-like body and a quadruple polyvinylidene fluoride (PVDF, a kind of piezoelectric polymer) sound-sensing matrix embedded at... View full abstract»

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  • A novel rotary acceleration sensor

    Publication Year: 1995, Page(s):56 - 60
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The authors developed a new type of rotary acceleration sensor. It has the capability to sense an angular acceleration independently to the rotational speed and has an unlimited rotation range. The authors believe that this sensor can be used in robust motor control, vibration control, and any other application where a reliable acceleration signal is needed. The sensor's structure and basic perfor... View full abstract»

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  • Basic steering control methods for the articulated body mobile robot

    Publication Year: 1995, Page(s):5 - 14
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (836 KB)

    This article investigates steering control methods for the articulated body mobile robot KORYU-II (KR-lI), a mechanical model composed of seven segments, with total length 3.3 m and total weight 330 kg. The objective is to generate joint commands for all the segments of KR-II, taking the velocity and direction of the foremost segment as input commands, which are provided from a remote human operat... View full abstract»

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  • Micro-teleoperation with manual task execution posture

    Publication Year: 1995, Page(s):22 - 29
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (796 KB)

    This article describes a new micro-teleoperation system that is inherently suitable for micro-object handling since it mitigates several drawbacks associated with human interface devices. The system uses an upward-facing CRT display monitor mounted beneath a table. An operator performs micro-tasks in a sitting posture at the table while looking down at the monitor with a touch sensor screen situat... View full abstract»

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  • Robot hand-eye coordination based on stereo vision

    Publication Year: 1995, Page(s):30 - 39
    Cited by:  Papers (68)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (848 KB)

    This article describes the theory and implementation of a system that positions a robot manipulator using visual information from two cameras. The system simultaneously tracks the robot end-effector and visual features used to define goal positions. An error signal based on the visual distance between the end-effector and the target is defined, and a control law that moves the robot to drive this ... View full abstract»

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  • Control of pneumatic muscle actuators

    Publication Year: 1995, Page(s):40 - 48
    Cited by:  Papers (116)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, and simplicity are factors that could potentially be exploited in sophisticated dextrous manipulator designs. This paper considers the development of a new high power/weight and power/volume braided pneumatic muscle actuator (PMA) h... View full abstract»

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  • A nonlinear PD controller for force and contact transient control

    Publication Year: 1995, Page(s):15 - 21
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    This article describes a nonlinear proportional and derivative (NPD) controller and its use for both non-contact transient force control (NCTFC) (zero velocity when contact occurs) and contact transient force control (CTFC) (non-zero velocity when contact occurs). The key advantages of NPD control are its high disturbance rejection and robustness to time delay. The authors present a gain design me... View full abstract»

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Jonathan P. How
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