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Journal Articles

Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators

Barat S., Sushrut Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121003.
Paper No: DS-23-1062
https://doi.org/10.1115/1.4063488
Published Online: October 9, 2023
View Article titled, Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators
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Topics: Actuators, Engines, Flexible manipulators, Frequency response, Manipulators, Motors, Springs, Stability, Stiffness, Torque
Journal Articles

An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System

Fangfang Dong, Bin Yu, Xiaomin Zhao, Shan Chen, Haijun Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2023, 145(11): 111003.
Paper No: DS-22-1178
https://doi.org/10.1115/1.4062956
Published Online: October 5, 2023
View Article titled, An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System
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Topics: Control equipment, Errors, Kaolin, Modeling, Robots, Robust control, Uncertainty, Stress, Manipulators, Symmetry (Physics)
Journal Articles

Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator

Ram Padmanabhan, Maithili Shetty, T. S. Chandar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2023, 145(5): 051002.
Paper No: DS-22-1071
https://doi.org/10.1115/1.4062079
Published Online: March 20, 2023
View Article titled, Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator
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Topics: Control equipment, Design, Dynamics (Mechanics), Errors, Manipulators, Uncertainty, Robust control, Stability
Journal Articles

Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Amin Ghorbanpour, Hanz Richter
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121002.
Paper No: DS-22-1018
https://doi.org/10.1115/1.4055391
Published Online: September 27, 2022
View Article titled, Energy-Optimal Impedance Control of Cooperative Robot Manipulators
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Topics: Dynamics (Mechanics), Energy budget (Physics), Robots, Manipulators, Control equipment, Trajectories (Physics), Optimization, Energy consumption, Torque
Journal Articles

Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators

Samet Gul, Erkan Zergeroglu, Enver Tatlicioglu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111006.
Paper No: DS-21-1315
https://doi.org/10.1115/1.4055291
Published Online: September 8, 2022
View Article titled, Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators
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Topics: Control equipment, Design, Errors, Feedback, Manipulators, Stability
Journal Articles

Dual-Mode Synchronization Predictive Control of Robotic Manipulator

Zhu Dachang, Cui Aodong, Du Baolin, Zhu Puchen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111002.
Paper No: DS-21-1380
https://doi.org/10.1115/1.4055085
Published Online: August 18, 2022
View Article titled, Dual-Mode Synchronization Predictive Control of Robotic Manipulator
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Topics: Errors, Manipulators, Predictive control, Synchronization, Trajectories (Physics)
Journal Articles

Design and Experiment of a Prescribed-Time Trajectory Tracking Controller for a 7-DOF Robot Manipulator

Alexander Bertino, Peiman Naseradinmousavi, Miroslav Krstic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 101005.
Paper No: DS-21-1347
https://doi.org/10.1115/1.4055023
Published Online: August 8, 2022
View Article titled, Design and Experiment of a Prescribed-Time Trajectory Tracking Controller for a 7-DOF Robot Manipulator
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Topics: Control equipment, Errors, Manipulators, Trajectories (Physics), Simulation, Design
Journal Articles

Saturated Output Feedback Control for Robot Manipulators With Joints of Arbitrary Flexibility

Xin Cheng, Huashan Liu, Zhen Zeng, Wenke Lu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2022, 144(8): 081004.
Paper No: DS-21-1130
https://doi.org/10.1115/1.4054582
Published Online: June 7, 2022
View Article titled, Saturated Output Feedback Control for Robot Manipulators With Joints of Arbitrary Flexibility
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Topics: Control equipment, Errors, Feedback, Manipulators, Pole placement, Stability, Dynamics (Mechanics), Torque
Journal Articles

Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming

Gabriel Bravo-Palacios, Gianluigi Grandesso, Andrea Del Prete, Patrick M. Wensing
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2022, 144(2): 021007.
Paper No: DS-21-1057
https://doi.org/10.1115/1.4052463
Published Online: November 12, 2021
View Article titled, Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming
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Topics: Design, Feedback, Trajectories (Physics), Optimization, Control equipment, Robots, Manipulators
Journal Articles

Coordinated Control of Flexible Cables With Human-Like Dual Manipulators

Naijing Lv, Jianhua Liu, Yunyi Jia
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2021, 143(8): 081006.
Paper No: DS-20-1286
https://doi.org/10.1115/1.4050398
Published Online: April 7, 2021
View Article titled, Coordinated Control of Flexible Cables With Human-Like Dual Manipulators
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Topics: Cables, Manipulators
Journal Articles

Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator

Alexander Bertino, Peiman Naseradinmousavi, Atul Kelkar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2021, 143(7): 071007.
Paper No: DS-20-1315
https://doi.org/10.1115/1.4049795
Published Online: February 19, 2021
View Article titled, Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator
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Topics: Adaptive control, Control equipment, Manipulators, Simulation, Trajectories (Physics), Errors, Dynamics (Mechanics), Robots
Journal Articles

Region-Reaching Control of a Flexible-Joint Manipulator

J. W. Yu, X. H. Zhang, J. C. Ji, J. Y. Tian, J. Zhou
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. November 2020, 142(11): 114503.
Paper No: DS-19-1543
https://doi.org/10.1115/1.4047697
Published Online: July 23, 2020
View Article titled, Region-Reaching Control of a Flexible-Joint Manipulator
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Topics: Manipulators, Control equipment
Journal Articles

Observer-Based Nonlinear Decoupling Control for Two-Joint Manipulator Systems Driven by Pneumatic Artificial Muscles

Ling Zhao, Xin Liu, Tao Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2020, 142(4): 041001.
Paper No: DS-17-1577
https://doi.org/10.1115/1.4045701
Published Online: January 20, 2020
View Article titled, Observer-Based Nonlinear Decoupling Control for Two-Joint Manipulator Systems Driven by Pneumatic Artificial Muscles
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Topics: Control equipment, Errors, Manipulators, Muscle, State estimation, Signals, Pressure
Journal Articles

Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators

Ákos Nagy, István Vajk
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2019, 141(11): 111007.
Paper No: DS-18-1533
https://doi.org/10.1115/1.4044216
Published Online: July 31, 2019
View Article titled, Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators
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Topics: Friction, Manipulators, Motors, Optimization, Robots, Torque, Engines, Time optimal control, Trajectories (Physics)
Journal Articles

A Task-Space Tracking Control Approach for Duct Cleaning Robot Based on Fuzzy Wavelet Neural Network

Bu Dexu, Kong Weiwei, Qi Yunlong
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2019, 141(11): 111004.
Paper No: DS-18-1495
https://doi.org/10.1115/1.4043933
Published Online: July 1, 2019
View Article titled, A Task-Space Tracking Control Approach for Duct Cleaning Robot Based on Fuzzy Wavelet Neural Network
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Topics: Artificial neural networks, Ducts, Robots, Wavelets, Errors, Dynamic models, Uncertainty, Sliding mode control, Control systems, Simulation results
Journal Articles

An Adaptive Output Feedback Proportional-Integral-Derivative Controller for n -Link Type ( m,s ) Electrically Driven Mobile Manipulators

Khoshnam Shojaei
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2019, 141(9): 091001.
Paper No: DS-18-1185
https://doi.org/10.1115/1.4043053
Published Online: April 9, 2019
View Article titled, An Adaptive Output Feedback Proportional-Integral-Derivative Controller for n -Link Type ( m,s ) Electrically Driven Mobile Manipulators
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Topics: Actuators, Control equipment, Errors, Manipulators, Design
Journal Articles

Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object

Maryam Farahmandrad, Soheil Ganjefar, Heidar Ali Talebi, Mahdi Bayati
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2019, 141(6): 061010.
Paper No: DS-17-1616
https://doi.org/10.1115/1.4042742
Published Online: February 27, 2019
View Article titled, Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object
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Topics: Control equipment, Robotics, Robots, Shapes, Surface mount components, Uncertainty, Design, Simulation results, Stability, Dynamics (Mechanics)
Journal Articles

Fixed-Time Inverse Dynamics Control for Robot Manipulators

Yuxin Su, Chunhong Zheng
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. June 2019, 141(6): 064502.
Paper No: DS-18-1378
https://doi.org/10.1115/1.4042743
Published Online: February 27, 2019
View Article titled, Fixed-Time Inverse Dynamics Control for Robot Manipulators
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Topics: Dynamics (Mechanics), Errors, Manipulators, Stability, Transients (Dynamics), Robots, Trajectories (Physics)
Journal Articles

An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach

Kamil Cetin, Enver Tatlicioglu, Erkan Zergeroglu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2019, 141(5): 051011.
Paper No: DS-18-1089
https://doi.org/10.1115/1.4042464
Published Online: January 29, 2019
View Article titled, An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach
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Topics: Control equipment, Errors, Manipulators, Simulation, Stability, Kinematics, Adaptive control, Jacobian matrices, End effectors, Design
Journal Articles

Multi-Objective Design of Optimal Sliding Mode Control for Trajectory Tracking of SCARA Robot Based on Genetic Algorithm

Wafa Boukadida, Anouar Benamor, Hassani Messaoud
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2019, 141(3): 031015.
Paper No: DS-18-1203
https://doi.org/10.1115/1.4041852
Published Online: November 22, 2018
View Article titled, Multi-Objective Design of Optimal Sliding Mode Control for Trajectory Tracking of SCARA Robot Based on Genetic Algorithm
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Topics: Design, Genetic algorithms, Robots, Sliding mode control, Control equipment, Manipulators, Trajectories (Physics)