Teaching an introductory course on control systems to undergraduate students often seeks elaborations on real engineering world control system applications to assist students in grasping theoretical concepts. In this paper, the newly developed animated and interactive control systems tutorials are presented. The paper shows that this teaching approach helps students in bridging the gap between ...

The industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. They could be mainly separated into two great classes, namely Hybrid control, where...

The effects of left stellate ganglion stimulation on pulmonary hydraulic input impedance was evaluated in 21 experiments on open-chest dogs anesthetized with chloralose. The stellate ganglion was stimulated at 1, 2, 5, 10, and 20 cps, and impedance spectra were generated at each frequency. Control spectra were characterized by frequency-dependent oscillations in impedance magnitude. Generally, ...

This paper proposes the distributed impedance approach as a new formulation of multiple robot systems control. In this approach, each cooperating manipu-lator is provided with its own independant impedance controller. In addition, along selected degrees of freedom , force control is achieved through an external loop, in order to improve control of the object's internal loading. Extensive stabil...

The acoustic impedance at the diaphragm of an electroacoustic transducer can be varied using a range of basic electrical control strategies, amongst which are electrical shunt circuits. These passive shunt techniques are compared to active acoustic feedback techniques for controlling the acoustic impedance of an electroacoustic transducer. The formulation of feedback-based acoustic impedance co...

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. ’Ikaditiody, a bilateral manipulator is designed for transparency; i.e., so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control,” introduced here, differs in that it trea...

This article presents distributed impedance as a new approach for multiple robot system control. In this approach, each cooperating manipulator is controlled by an independent impedance controller. In addition, along selected degrees of freedom, force control is achieved through an external loop, to improve control of the object’s internal loading. Extensive stability analysis is performed, bas...

Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is much experimental evidence available that the nervous system employs such strategies, no generally-valid computational model of impedance control derived from first principles h...