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Keywords: robotics
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Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091004.
Paper No: DS-20-1460
Published Online: April 15, 2021
...Curt A. Laubscher; Jerzy T. Sawicki This paper presents a novel impedance controller modified with a switching strategy for the purpose of improving safety in human–robot interactions. Under normal operating conditions, an impedance controller is enabled when adequate tracking performance is...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2021, 143(1): 011005.
Paper No: DS-19-1339
Published Online: September 22, 2020
...Gregory A. Formosa; J. Micah Prendergast; J. Sean Humbert; Mark E. Rentschler A scaled robotic endoscopy platform (REP) was previously developed to efficiently test new control schemes in a simulated colon environment. This article presents the derivation and tuning of a nonlinear model of the REP...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2019, 141(1): 011003.
Paper No: DS-17-1382
Published Online: September 7, 2018
... ,” Australasian Conference on Robotics and Automation , Auckland, New Zealand, Dec. 6–8, pp. 1 – 10 . http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.368.9509&rep=rep1&type=pdf [3] Mellinger , D. , Michael , N. , and Kumar , V. , 2012 , “ Trajectory Generation and Control for...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2019, 141(1): 011001.
Paper No: DS-17-1160
Published Online: August 20, 2018
...Kamil Cetin; Enver Tatlicioglu; Erkan Zergeroglu In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2019, 141(1): 011002.
Paper No: DS-17-1259
Published Online: August 20, 2018
...-Connection (GP) algorithm, which attempts to connect an added vertex directly to its grandparent vertex instead of parent. The GT and GP algorithms are both proven to be asymptotically optimal. Finally, the three algorithms are simulated and compared for a Euclidean metric robot, a Dubins' vehicle, and a...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2018, 140(11): 111017.
Paper No: DS-17-1483
Published Online: August 1, 2018
...Mostafa Bagheri; Miroslav Krstić; Peiman Naseradinmousavi In this paper, a novel analytical coupled trajectory optimization of a seven degrees-of-freedom (7DOF) Baxter manipulator utilizing extremum seeking (ES) approach is presented. The robotic manipulators are used in network-based industrial...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2018, 140(12): 121001.
Paper No: DS-15-1462
Published Online: July 2, 2018
... State Key Laboratory of Robotics and System (HIT) under (Grant No. SKLR201403bB). The China Scholarship Council (CSC) under (Grant No. [2013]06120200). Jiangsu Postdoctoral Science Foundation under (Grant No. 1601080C). Jiangsu University Natural Science Foundation under (Grant No. 17KJB310015...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2018, 140(12): 121002.
Paper No: DS-17-1333
Published Online: July 2, 2018
...Vahid Azimi; Seyed Abolfazl Fakoorian; Thang Tien Nguyen; Dan Simon This paper presents, compares, and tests two robust model reference adaptive impedance controllers for a three degrees-of-freedom (3DOF) powered prosthesis/test robot. We first present a model for a combined system that includes a...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2018, 140(9): 091012.
Paper No: DS-16-1619
Published Online: April 30, 2018
...Shadi Tasdighi Kalat; Siamak G. Faal; Cagdas D. Onal We present a novel approach to achieve decentralized distribution of forces in a multirobot system. In this approach, each robot in the group relies on the behavior of a cooperative virtual teammate that is defined independent of the population...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2018, 140(9): 091005.
Paper No: DS-17-1017
Published Online: April 4, 2018
... ONTROL . Manuscript received January 10, 2017; final manuscript received December 19, 2017; published online April 4, 2018. Editor: Joseph Beaman. 1 Corresponding author. Intelligent control Modeling and simulation Nonlinear systems Robotics Uncertain systems Dynamic systems Control...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2018, 140(7): 071017.
Paper No: DS-16-1554
Published Online: March 28, 2018
... , “ Dynamics of Pursuit and Evasion in a Heterogeneous Herd ,” IEEE Conference on Decision and Control ( CDC ), Los Angeles, CA, Dec. 15–17, pp. 2920 – 2925 . 10.1109/CDC.2014.7039838 [3] Soueres , P. , and Boissonnat , J.-D. , 1998 , “ Optimal Trajectories for Nonholonomic Mobile Robots...
Journal Articles
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. June 2018, 140(6): 064503.
Paper No: DS-17-1067
Published Online: March 28, 2018
... Dyn. , 32 ( 2 ), pp. 512 – 526 . 10.2514/1.37261 [4] Chung , S.-J. , and Slotine , J.-J. E. , 2009 , “ Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems ,” Trans. Rob. , 25 ( 3 ), pp. 686 – 700 . 10.1109/TRO.2009.2014125 [5] Nijmeijer , H...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2018, 140(7): 071013.
Paper No: DS-16-1081
Published Online: March 7, 2018
...] Macharet , D. G. , Alves Neto , A. , da Camara Neto , V. F. , and Campos , M. F. , 2013 , “ Efficient Target Visiting Path Planning for Multiple Vehicles With Bounded Curvature ,” IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ), Tokyo, Japan, Nov. 3–7, pp...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2018, 140(8): 081002.
Paper No: DS-17-1034
Published Online: March 7, 2018
...Amin Nikoobin; Mojtaba Moradi Balancing plays a major role in performance improvement of robotic manipulators. From an optimization point of view, some balancing parameters can be modified to decrease motion cost. Recently introduced, this concept is called optimal balancing: an umbrella term for...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2018, 140(6): 061007.
Paper No: DS-16-1473
Published Online: December 22, 2017
...Stephanie Bonadies; Neal Smith; Nathan Niewoehner; Andrew S. Lee; Alan M. Lefcourt; S. Andrew Gadsden Farming and agriculture is an area that may benefit from improved use of automation in order to increase working hours and improve food quality and safety. In this paper, a commercial robot was...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 051008.
Paper No: DS-17-1107
Published Online: December 19, 2017
...Yan Gu; Bin Yao; C. S. George Lee This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, we propose to use the left and the right...
Journal Articles
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 054501.
Paper No: DS-16-1286
Published Online: December 19, 2017
... Observers for Nonlinear Mechanical Systems ,” Asian Control Conference , Tokyo, Japan, July 27–30, pp. 633 – 636 . [3] Abdessameud , A. , and Khelfi , M. F. , 2006 , “ A Variable Structure Observer for the Control of Robot Manipulators ,” Int. J. Appl. Math. Compt. Sci. , 16 ( 2 ), pp. 189...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 051012.
Paper No: DS-17-1242
Published Online: December 19, 2017
... gains. The mass-spring-damper system and two-link manipulator robot system are both used as examples system to demonstrate the proposed control scheme, respectively. The comparisons between MFSMTC with the fixed control gain and MFASMTC with the adjustable control gain based on a DOB are performed in...
Journal Articles
Article Type: Design Innovation Paper
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 055001.
Paper No: DS-17-1201
Published Online: December 19, 2017
... Maintenance Status of Rotating Meteorological Sensors ,” Measurement , 73 , pp. 401 – 418 . 10.1016/j.measurement.2015.05.032 [5] Le Bars , F. , and Jaulin , L. , 2013 , “ An Experimental Validation of a Robust Controller With the VAIMOS Autonomous Sailboat ,” Robotic Sailing 2012...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2018, 140(6): 061002.
Paper No: DS-16-1530
Published Online: December 19, 2017
...Hayder Mahdi Abdulridha; Zainab Abdullah Hassoun In this study, a control system was designed to control the robot's movement (The Mitsubishi RM-501 robot manipulator) based on the quantum neural network (QNN). A proposed method was used to solve the inverse kinematics in order to determine the...