Research: Robotics

References

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[2] B. Brogliato, S. I. Niculescu, and P. Orhant, "On the Control of Finite-Dimentional Mechanical Systems with Unilateral Constraints," IEEE Transactions on Automatic Control, Vol. 42, No. 2, pp. 200-215, (1997).

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[5] X. Cyril, G. J. Jarr, A. K. Misra, "The Effect of Payload Impact on the Dynamics of a Space Robot," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, 1993, Vol. 3, pp. 2070-2075.

[6] W. E. Dixon, A. Behal, D. M. Dawson, and S. Nagarkatti, Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach, Birkhäuser Boston, 2003.

[7] W. E. Dixon, E. Zergeroglu, D. M. Dawson, and M. W. Hannan, “Global Adaptive Partial State Feedback Tracking Control of Rigid-Link Flexible-Joint Robots,” Robotica, Vol. 18. No 3. pp. 325-336, (2000).

 

[8] K. Dupree, W. E. Dixon, G. Hu and C. Liang, “Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing An Impact Collision,” IEEE American Control Conference, Minneapolis, MN,

2006, pp. 3241-3246.

[9] G. Hu, W. E. Dixon, and C. Makkar, "Energy-Based Nonlinear Control of Under-Actuated Euler-Lagrange Systems Subject to Impacts," IEEE Conference on Decision and Control, Seville, Spain, 2005, pp. 6859-6864.

[10] M. Indri and A. Tornambe, "Impact Model and Control of Two Multi-DOF Cooperating Manipulators," IEEE Transactions on Automatic Control, Vol. 44, No. 6, pp. 1297-1303, (1999).

[11] M. Indri and A. Tornambe, "Control of Under-Actuated Mechanical Systems Subject to Smooth Impacts," Proceedings of the IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, 2004, pp. 1228-1233.

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[13] M. Loffler, N. Costescu, and D. Dawson, “Qmotor 3.0 and the Qmotor Robotic Toolkit - An Advanced PC-Based Real-Time Control Platform,” IEEE Control Systems Magazine, Vol. 22, No. 3, pp. 12-26,

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[16] P. R. Pagilla and B. Yu, "A Stable Transition Controller for Constrained Robots," IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 1, pp. 65-74, (2001).

[17] P. Sekhavat, Q. Wu, and N. Sepehri, "Impact Control in Hydraulic Actuators with Friction: Theory and Experiments," Proceedings of the American Control Conference, Boston, Massachusetts, 2004, pp. 4432-4437.

[18] A. Tornambe, "Global Regulation of a Planar Robot Arm Striking a Surface," IEEE Transactions on Automatic Control, Vol. 41, No. 10, pp. 1517-1521, (1996).

[19] A. Tornambe, "Modeling and Control of Impact in Mechanical Systems: Theory and Experimental Results," IEEE Transactions on Automatic Control, Vol. 44, No. 2, pp. 294-309, (1999).

[20] R. Volpe and P. Khosla, "A Theoretical and Experimental Investigation of Impact Control for Manipulators," International Journal of Robotics Research, Vol. 12, No. 4, pp. 670-683, (1994).

[21] I. D. Walker, "Impact Configurations and Measures for Kinematically Redundant and Multiple Armed Robot Systems," IEEE Transactions on Robotics and Automation, Vol. 10, No. 5, pp 346-351, (1994).

[22] Y. Wu, T. J. Tarn, N. Xi, and A. Isidori, "On Robust Impact Control via Positive Acceleration Feedback for Robot Manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 1996, pp. 1891-1896.

[23] K. Yoshida, C. Mavroidis, S. Dubowsky,"Impact Dynamic of Space Long Reach Manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 1996, Vol. 3, pp. 1909-1916.