A position control system utilizing pitch feedback is being developed. The system will be demonstrated on a robot playing a musical instrument called the theremin. Unlike previous research involving computationally intensive pitch sensors, we would like to explore the possibility of a control system using a pitch sensor with a low computation overhead. The robot is being improved upon to make i...

Periodic sampling and control has been the dominating paradigm in computer-controlled systems since the 1950s. The periodic approach is very convenient, since it enables the system developer to base the analysis and design on standard sampled-data control theory real-time systems theory. While convenient, periodic control does not utilize the system resources in an optimum way. Sensor values an...

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

This article presents a method for passivating the communication channel of a symmetric position-position teleoperation architecture on the time domain. The time domain passivity control approach has recently gained appeal in the context of timedelayed teleoperation because passivity is not established as a design constraint, which often forces conservative rules, but rather as a property which...

Surgical teleoperation systems are being increasingly deployed. There are, however, remaining issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues, and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to offer a general approach to designing the overall control structure. This paper a...