Mark W. Spong

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In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, exible robots, walking, brachiating, and gymnastic robots. The Lagrangian dynamics of these systems may contain feedforward(More)
In this paper we consider the application of a new formulation of Passivity Based Control, known as Interconnection and Damping Assignment, or IDA-PBC, to the problem of stabilization of underactuated mechanical systems, which requires the modification of both the potential and the kinetic energies. Our main contribution is the characterization of a class(More)
1 In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two{link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system , a number of fundamental concepts in nonlinear dynamics and control theory may be(More)
We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The proposed framework uses the simple proportional-derivative control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication channels.(More)
Mark W. Spong textbook [13] for background of the robotics application of this technique. The novelty of our result in the present paper lies in the fact that the uncertainty bounds needed to derive the control law and to prove uniform ultimate boundedness of the tracking error depend only on the inertia parameters of the robot. Previous applications of the(More)