Results 271 to 280 of about 2,010,715 (317)
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Positive controllability of positive dynamical systems
Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002The paper is devoted to a study of constrained controllability and controllability for linear dynamical systems if the controls are taken to be nonnegative. In analogy to the usual definition of controllability it is possible to introduce the concept of positive controllability. We concentrate on approximate positive controllability for linear infinite-
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Learning force control with position controlled robots
Proceedings of IEEE International Conference on Robotics and Automation, 2002The paper applies a previously presented method for accurate tracking of paths to force control. This approach is very simple since it does not require a joint torque/motor current interface but only a positional interface. It can be applied with elastic end-effectors (sensors) as well as with stiff environments where most elasticity is in the robot ...
Lange, F., Hirzinger, G.
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Scalable Control of Positive Systems
Annual Review of Control, Robotics, and Autonomous Systems, 2021In this article, we first present some foundational results about the stability and positive stabilization of continuous-time positive systems. Necessary and sufficient conditions for achieving stability are provided, together with some desired performance in terms of disturbance attenuation.
Anders Rantzer, Maria Elena Valcher
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Robots positioning control revisited
Journal of Intelligent and Robotic Systems, 1990Positioning control systems for robot arms are presented within a general framework in view of unification and classification. Treating coupling torques from other links as an external disturbance reduces the design of the control system to that of SISO servomechanisms driving each of the robot axes individually.
Raymond Gorez, Jules O'Shea
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On the friction-position control relationship
Proceedings of the Institution of Mechanical Engineers, Part J: Journal of Engineering Tribology, 1997A theoretical analysis of the dynamic behaviour of mechanical systems characterized by coupled elements subjected to friction force from the sliding surface is proposed. With reference to systems with one degree of freedom and approximating the friction force as a piecewise linear function, i.e.
G. Capone +3 more
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Microcomputer position control system
Microprocessors and Microsystems, 1979Abstract Minimization of the travelling period when a digital motor is used as a positioning actuator is discussed. Two aspects are involved: the exploitation of motor acceleration capability by using a microcomputer as a programmable controller and the development of support subroutines to deal with the interaction between the required position and ...
Adnan Al-Anbuky, G. A. Swadi
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A hybrid position/force control for robot manipulators with position controllers
Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation, 2002A new hybrid position/force control scheme over a position control scheme is proposed. The control scheme modifies the position command for force control against the constraint surface of the environment and is very easily designed and implemented. The merits of the control scheme are that it can cope with a change of constraint conditions and a small ...
M. Ohto, H. Mayeda
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Stabilization with positive and quantized control
Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2003Asymptotic stabilization for a class of nonlinear cascades in feedforward form is achieved with positive (negative) control. For the same class of systems practical stabilization is achieved by means of a quantized control scheme, i.e. with a control action that takes values only in a discrete set.
Georgia Kaliora, Alessandro Astolfi
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Proceedings of the 19th Symposium on Interactive 3D Graphics and Games, 2015
We present a novel fluid control method that is capable of driving particle-based fluid simulation to match a rapidly changing target while keeping natural fluid-like motion. To achieve the desired behavior, we first generate control particles by sampling the target shape and then apply a non-linear constraint to each control particle, with its ...
Shuai Zhang +3 more
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We present a novel fluid control method that is capable of driving particle-based fluid simulation to match a rapidly changing target while keeping natural fluid-like motion. To achieve the desired behavior, we first generate control particles by sampling the target shape and then apply a non-linear constraint to each control particle, with its ...
Shuai Zhang +3 more
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Remotely Controlled Positioning Lasers
Medical Dosimetry, 1991Positioning lasers used in radiotherapy generally require little adjustment. When required, this is easy to do for sidelights, but can be difficult and time consuming for ceiling mounted lasers. For this purpose, we have modified a commercial positioning laser by incorporating a device for rotating the alignment adjustment screws. This device is driven
P J, Biggs +3 more
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