NDLI: Robust impedance control of a robot manipulator with exponential tracking error convergence

Please wait, while we are loading the content...

SoutheastCon 2015

IEEE SOUTHEASTCON 2014

2013 Proceedings of IEEE Southeastcon

2012 Proceedings of IEEE Southeastcon

2011 Proceedings of IEEE Southeastcon

Proceedings of the IEEE SoutheastCon 2010 (SoutheastCon)

IEEE Southeastcon 2009

IEEE SoutheastCon 2008

Proceedings 2007 IEEE SoutheastCon

Proceedings of the IEEE SoutheastCon 2006

Proceedings. IEEE SoutheastCon, 2005.

IEEE SoutheastCon, 2004. Proceedings.

IEEE SoutheastCon, 2003. Proceedings.

Proceedings IEEE SoutheastCon 2002 (Cat. No.02CH37283)

Proceedings. IEEE SoutheastCon 2001 (Cat. No.01CH37208)

Proceedings of the IEEE SoutheastCon 2000. 'Preparing for The New Millennium' (Cat. No.00CH37105)

Proceedings IEEE Southeastcon'99. Technology on the Brink of 2000 (Cat. No.99CH36300)

Proceedings IEEE Southeastcon '98 'Engineering for a New Era'

Proceedings IEEE SOUTHEASTCON '97. 'Engineering the New Century'

Proceedings of SOUTHEASTCON '96

Proceedings IEEE Southeastcon '95. Visualize the Future

Proceedings of SOUTHEASTCON '94

Proceedings of Southeastcon '93

Proceedings IEEE Southeastcon '92

Application of a discrete jump-detection algorithm to a continuous system

On the state observation and output feedback problems for nonlinear uncertain dynamic systems

On the theoretical sub-optimality of optimal disturbance-utilizing control laws

Embedding discriminant directions in backpropagation

Feature based retrieval in neural networks

Learning capabilities of recurrent neural networks

A CMOS parallel Gouraud shading VLSI architecture

A high-speed 8*8-bit CMOS parallel array processor

Design of finite word length FIR digital filter using a parallel genetic algorithm

Exploiting bit-level parallelism in Boolean matrix operations for graph analysis

An efficient parallel structure for evaluating the triple matrix product algorithm

DQDB: slot reuse and preuse

Designing an extracorporeal deep-hypothermic heat exchanger and optimizing its operating conditions

A computer aided method for design of noninvasive indirect measurement of arterial blood pressure

Reliability test of interconnections using electrical noise measurement

A scaling procedure for Domino CMOS logic

A power MOSFET current switch for driving a pulsed hollow cathode discharge

Using Karnaugh maps to solve Boolean equations by successive elimination

Promoting the use of an object-oriented software development methodology by merging structured and object-oriented analysis methods

Concurrent programming model development in C++

Proceedings. IEEE SOUTHEASTCON '92 (Cat. No.92CH3094-0)

Cnest and Cscope: Tools for the literate programming environment

A reliable distributed system using dual level fault tolerance

Development of a fault-tolerant distributed tuple-space

Decentralized authorization for distributed database system

Dynamic load shedding mechanisms for overloads in distributed embedded systems

HPTR: Hardware partition in time redundancy technique for fault tolerance

Training multilayered neural networks by replacing the least fit hidden neurons

DENDRITE: A system for visual interpretation of neural network data

Inverter switching patterns using a neural network

Backpropagation algorithm for a generalized neural network structure

An integrated simulation environment for design and analysis of mobile communication systems

A general second-order lock detector for type I PLLs

A method for predicting interference into a narrow band receiver from portable, direct sequence, spread spectrum CDMA transmitters

A spectrally efficient narrowband mobile radio system for voice and data communication

ARMA spectral estimation based on non-linear least squares

The recursive linear identification method for ARMA model estimation

Spectral estimation of segmented signal using deconvolution technique

On the use of the Nuttall-Carter technique for PSD estimation

PMM: a parallel architecture for production systems

Temporal production systems

Integrating probabilistic and rule-based systems for clinical differential diagnosis

Observability of HIP nonlinear dynamics

A segmented ring network with an adaptive history-based protocol

Synchronous CDMA technique for fiber-optic LANs with folded dual bus topology

Dynamic protocol for token ring network with unbalanced load

The grid-block approach to modeling and simulation analysis as applied to local area networks

A Walsh transform-neural network method for estimating the size distribution of bubbles in a liquid

The application of agglomerative clustering in image classification systems

2-dimensional object recognition for the ISAC system

A parallel algorithm for maximum independent set of a circular-arc graph

A constant-time channel-assignment algorithm on reconfigurable meshes

Critical issues in managing technical personnel

Multimedia technology in engineering education

A stable algorithm with perturbed and unmodeled systems

Quick look parameter estimation in linear control systems

H/sub infinity / vs. classical methods in the design of feedback control systems

An examination of the accuracy of finite impulse response modeling

A tutorial comparison of three multivariable stability margins

Study of plane wave absorbing effectiveness of conductive polymer films

Current collection by a conducting spherical satellite in the ionosphere

Numerical simulations for the current collection by a tethered-satellite in the ionosphere

Dielectric measurements using the HP 85070A probe

Comparison of two techniques for the solution of the 3-D nonlinear transient eddy current problem

BeRM: bioelectric response monitor

Chaotic classification of electromyographic (EMG) signals via correlation dimension measurement

Neural network-based classification of electromyographic (EMG) signal during dynamic muscle contraction

Parameter estimation for a model of blood volume change during hemodialysis

Integrating edge and surface information for range image segmentation

The reconstruction of images distorted by hypersonic turbulence

A stereo matching process for the recovery of depth information

A fuzzy relaxation algorithm for matching imperfectly segmented images to models

Single row routing with indifference graphs on the DAP

Optimal greedy algorithms for indifference graphs

On polynomial time algorithms for tree-decomposable graphs

Application of an inherently parallel heuristic methodology to flow-shop scheduling

Deep level spectroscopy in semiconductors using transient surface photovoltage

Effects of hydrogen annealing on low temperature grown oxides on silicon by negative point-to-point corona discharge oxidation

Characterization studies of deep levels in silicon doped copper diffused GaAs and their significance for bulk GaAs switches

Two new techniques for compiled multi-delay simulation

BiCMOS gate delay analysis including temperature effect and high current transients

Compiled unit-delay simulation for cyclic circuits

Two-dimensional MOS device modeling at low-temperature

Modeling of ultra-small-scale electron transport in GaAs

Timing jitter characterization for pulsed and pulsed Doppler radars

A computer model of oscillator phase noise

Estimation of tilt errors in multisensor systems

Estimation of sensor bias in multisensor systems

Impact of noise and target fluctuation on the performance of binary phase coded radar signals

Hyperstable adaptive recursive decision feedback equalizer

Continuous-time adaptive recursive signal processing

Theory and implementation issues of the 2-dimensional polynomial residue number system

Three dimensional sound simulation using DSP techniques

Subarrays, spatial dither and coherent interference rejection

Canonical representation of multivalued logic functions

A comparison of two learning philosophies

Artificial bootstrap

The N-queens problem and genetic algorithms

Simulation of I.430 D-channel access protocol

Automated design of a minimum cost hybrid bus/star local area network

Advanced Solid Rocket Motor (ASRM) communications network analysis using BONeS

Automatic image segmentation using edge detection by tissue classification in local neighborhoods

A novel method for non-invasive multispectral imaging of tissue

Coded M-ary orthogonal signal sets in DS-CDMA systems with multi-user interference

Exponential transient component analysis for speech modulation decomposition

Linear contractivity speech coding

Radiation characteristics of loaded shaped splash plate antennas

Gain enhancement of circular waveguide antennas using dielectric disc

Electromagnetic characteristics of a thick monopole antenna with dielectric loading

Endfire radiation characteristics of HF horizontal dipoles near the Earth's surface

Probe acquisition for the MSPARC hybrid monitor

An automated post-allocation translator for parallel dynamic system simulation

Interface information marketing: a vital aspect of a customer-oriented corporate strategy

Automatic fault isolation techniques for digital systems

A testable design to test pattern sensitive faults efficiently for semiconductor RAM

Organization and management of distributed execution event histories for real-time debugging

Application of net present value analysis to cost justify the conversion of a 4 kV distribution system to 23 kV

Measurement techniques to reveal arrester MOV response during steep-front impulsing

Artificial neural networks and their application to power system industry

Integrated amorphous silicon photoconductive type image sensor

A novel concept for hyperspectral remote sensing

Fiber optic pressure sensors

Cross-correlation properties of a DS-CDMA communication network using MFSK modulation

Priority service disciplines and voice cell discarding schemes in ATM networks

The consumer electronic bus symbol encoding sublayer: a twisted pair implementation

Performance analysis and traffic characterization of an Ethernet campus network to identify and develop possible SMDS applications and scenarios

An efficient two dimensional moving average model for texture analysis and synthesis

Exploiting parallelism in 3D object recognition using the Connection Machine

Petri-net based line extractor for binary images

Pattern matching in fewer comparisons

Probabilistic power bus loading analysis for Space Station Freedom

Dynamic restructuring mechanisms for robot manipulator controls

A stability theorem for a class of second order nonlinear systems with an application to robotics

Robust impedance control of a robot manipulator with exponential tracking error convergence

A comparison of quartic vs. binary neural network designs

Some comments on optimization techniques in neural networks

Extending memory in the neuromic array

A graphical programming environment for simulation of control and signal processing systems

Getting a digital signal processor laboratory started (education)

Computer-aided instruction for VLSI design using the NeXT workstation-phase III

The development of a real-time digital computer control laboratory for electrical engineering education

Signal selection for non-symmetric sources in two dimensions

System implementation of a 16-Kbps waveform coder using adaptive vector quantization

High dimension adaptive vector quantization

An improved initialization algorithm for use with the K-means algorithm for code book generation

A comparative study of using different speech parameters in the design of a discrete hidden Markov model

AMRS: a prototype of an analytical method recommendation system

Pseudo-continuous hidden Markov modeling for automatic speech recognition

An approach for parallelizing OPS5 production systems and a faster match, C based indexing scheme for hypercube machines

Integrating gate array design into a standard cell CAD environment

Rational number approximation in higher radix floating point systems

Writing area-efficient hardware descriptions for logic synthesis

Use of VHDL synthesis in an advanced digital design course

Modeling of saturation effects in the magnetizing branch of an induction motor using PSpice

A computer program to predict the performance of permanent magnet synchronous motor drives

A multi-objective computer-aided optimal load flow approach with graphic man-machine interface on personal computer

Optimal power flow by linear programming based optimization

Worst-case analysis of distribution system harmonics using genetic algorithms

Acoustic scattering from two parallel soft cylinders

Decoupling between two planar microstrip lines

Scattering of a Gaussian beam by an array of circular conducting and dielectric cylinders

WGVMAP-a software for mapping of vector fields in waveguides

Theoretical calculation of the nonlinearity of microwave diode detectors

Electromagnetic scattering from a perfectly conducting wedge loaded by a dielectric circular cylinder

The effect of turbulent medium on image resolution

Calculation of refractive index around a hypersonic vehicle with infrared sensors

A Fourier transform approach to acoustooptic interaction of curved, CW ultrasonic waves and optical beams with arbitrary profiles

Moire deflectometry in aero-optics analysis

Multi level combinational circuits and hazard detection

Precision pointing control of a flexible structure for space applications

Utilization of a six-state track filter within a weapon delivery system

LQG/LTR control of a two panel space station

Digital control system for the thermionic cathode in an electron gun

A performance monitor for the MSPARC multicomputer

The effect of related message transfer and process times on waiting times and buffer sizes in switch architectures

Performance modeling of multiprocessors under correlated traffic

Radio frequency monitoring and control of energy and processing systems

Instrumentation for helicopter blade harmonic analysis

An automatic psychrometer sensor for poultry farming

A fully-packaged silicon micromachined piezoresistive accelerometer

Optimized electromagnetic coil design theory

Closed-loop control of oxygen delivery during aeromedical evacuation of patients

An empirical investigation of the Haifa register allocation technique in the GNU C compiler

An improved increase policy for dynamic window flow control

Obtaining maximum confidence from unrevealing tests (software testing)

Engineering computer-based systems

Multi criteria optimization in multi connected systems of automatic control

Controllability notions: equivalency and sets of controllable points

IEEE Proceedings of the SOUTHEASTCON '91

IEEE Proceedings on Southeastcon

Proceedings. IEEE Energy and Information Technologies in the Southeast'

Conference Proceedings '88., IEEE Southeastcon

Conference Proceedings Southeastcon '81.

Robust impedance control of a robot manipulator with exponential tracking error convergence

Content Provider	IEEE Xplore Digital Library
Author	Dawson, D.M. Grabbe, M.T. Qu, Z. Bridges, M.M.
Copyright Year	1992
Description	Author affiliation: Clemson Univ., SC, USA (Dawson, D.M.; Grabbe, M.T.)
Abstract	The authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is designed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global exponential stability result is obtained for the position tracking error and the force regulation error (i.e. the error between the actual manipulator impedance and the desired target impedance). The controller only requires measurement of the end effector force, joint velocity, and joint position.
Starting Page	425
Ending Page	429
File Size	371968
Page Count	5
File Format	PDF
ISBN	0780304942
DOI	10.1109/SECON.1992.202384
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-04-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Robot control Surface impedance Force control Force measurement Manipulator dynamics Trajectory Stability Target tracking Velocity control
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in