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• W2116018001 abstract "An emulating robot is required to verify functionality of a space robot, such as the special purpose dextrous manipulator (SPDM). Control of the emulating robot is very challenging; it requires matching the contact force frequency-response of the emulating robot and that of the space robot, attenuating sensitivity to force sensor noise, while maintaining contact stability in spite of uncertain environment impedance. A /spl mu/ synthesis based controller for minimizing the weighted distance between the realized and the specified force transfer functions, minimizing noise sensitivity, and maintaining closed-loop stability in spite of a broad variation of environment parameters (stiffness and damping) is proposed. Experimental results demonstrate robust performance of the controller." @default.
• W2116018001 created "2016-06-24" @default.
• W2116018001 creator A5000948875 @default.
• W2116018001 creator A5054679873 @default.
• W2116018001 date "2005-04-01" @default.
• W2116018001 modified "2023-09-23" @default.
• W2116018001 title "A robust impedance matching scheme for emulation of robots" @default.
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• W2116018001 doi "https://doi.org/10.1109/iros.2004.1389726" @default.
• W2116018001 hasPublicationYear "2005" @default.
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