The research investigates a new method of control for telemanipulators called bilateral impedance control. This new method differs from previous ap"roaches in that interaction forces are used as the communication signals betWeen the master and slave rooots. The main advantage of bilateral impedance control is that it permits the arbitrary specification of desired system performance characterist...

This paper presents a method for designing tremor suppression systems that achieve a specified reduction in pathological tremor power through controlling the impedance of the human-machine interface. Position, rate, and acceleration feedback are examined and two techniques for the selection of feedback coefficients are discussed. Both techniques seek a desired closed-loop human-machine frequenc...

Manipulator compliance is well known to be important to robot manipulation and assembly. Recently, this has been highlighted by the development of new higly-compliant robot manipulators such as the Barrett arm or the DLR lightweight manipulator [1], [2]. It is also clear that dexterous manipulation involves touching the environment at different locations simultaneously (perhaps at different poi...

The human-robot interaction has played an important role in rehabilitation robotics and impedance control has been used in the regulation of interaction forces between the robot actuator and human limbs. Series elastic actuators (SEAs) have been an efficient solution in the design of this kind of robotic application. Standard implementations of impedance control with SEAs require an internal fo...

Policy-based management provides a means for IT systems to operate according to business needs. Unfortunately, there is often an “impedance mismatch” between the policies administrators want and the controls they are given. Consider the Apache web server. Administrators want to control CPU and memory utilizations, but this must be done indirectly by manipulating tuning parameters such as MaxCli...

This thesis presents research work related to the impedance control of redundant manipulators. The main goal is to study the effects of redundancy on the dynamic behaviour of manipulators. Firstly, theoretical developments related to redundancy, dynamics and impedance control are presented in general form without restriction to any particular manipulator. The purpose is to keep the findings use...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

New control circuits and algorithms are frequently proposed to control the impedance (Z) source inverter in efficient way with added benefits. As a result, several modified control techniques have been proposed in recent years. Although these techniques are clearly superior to the simple boost control method which was initially proposed along with the Z-source inverter (ZSI), little or conf...