A plant can track an input command signal if it is driven by a controller whose transfer function approximates the inverse of its transfer function. A stable inverse can be obtained even if the plant is nonminimum-phase. No direct feedback is used, except that the plant output is monitored and utilized to adapt the parameters of the controller. A model-reference inverse control system can learn...

This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...

A novel approach is proposed for the attitude stabilization and reorientation of an axi-symmetric spacecraft subject to two gas jet actuators. The approach is based on a new formulation of the attitude kinematics. Abstract| In this paper we consider the problem of attitude stabilization of an axi-symmetric spacecraft using two pairs of gas jet actuators. These actuators provide control torques ...

‎in this paper‎, ‎we study spectral element approximation for a constrained‎ ‎optimal control problem in one dimension‎. ‎the equivalent a posteriori error estimators are derived for‎ ‎the control‎, ‎the state and the adjoint state approximation‎. ‎such estimators can be used to‎ ‎construct adaptive spectral elements for the control problems.

This paper will describe the kinematics and dynamics of parallel robot named Delta with 3 degree of freedom (d.o.f). The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse...

Knee osteoarthritis (OA) becomes a major public issue, but a strategy to prevent the disease has not established yet due to lack of an accurate method to measure an internal motion of the knee of individual patients. Therefore mechanical engineering model and a standard of evaluation of the disease is needed to improve the situation. Currently, there are a few studies to develop the model inclu...

Inverse dynamics methods for muscle forces prediction are globally unable to predict antagonistic activity during a joint motion. This is due to a lack of physiological information describing how forces are shared between flexors and extensors. The aim of this study is the definition and the use of a new EMG-based cocontraction ratio in an inverse dynamics muscle forces prediction approach appl...

This contribution presents a new approach of estimating the joint torques for an active orthosis. The new approach combines inverse dynamics and measured ground reaction forces. The joint torques can easily be computed from the ground reaction forces, but the measurement is usually flawed. An obsererver is employed to estimate the disturbance of the measurements and restore the original joint t...

The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the...