BEGIN:VCALENDAR VERSION:2.0 PRODID:IEEE vTools.Events//EN CALSCALE:GREGORIAN BEGIN:VTIMEZONE TZID:America/Chicago BEGIN:DAYLIGHT DTSTART:20250309T030000 TZOFFSETFROM:-0600 TZOFFSETTO:-0500 RRULE:FREQ=YEARLY;BYDAY=2SU;BYMONTH=3 TZNAME:CDT END:DAYLIGHT BEGIN:STANDARD DTSTART:20251102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0600 RRULE:FREQ=YEARLY;BYDAY=1SU;BYMONTH=11 TZNAME:CST END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTAMP:20250701T140408Z UID:554848B7-E166-46D7-B2CC-DEC16DF93311 DTSTART;TZID=America/Chicago:20250626T113000 DTEND;TZID=America/Chicago:20250626T130000 DESCRIPTION:Abstract: Full state feedback (FSF) controllers for series elas tic actuators bridge the gap between impedance and admittance controllers. For robot manipulators-which must stably accomplish both stiff and soft b ehaviors-FSF controllers are ideal candidate joint controllers. Although p revious work on FSF gain tuning has derived necessary and sufficient condi tions on controller passivity with time-delay and derivative filtering\, t hey fail to achieve their target impedance behavior due to the large nonli near friction found in the high gear-reduction actuators of robot manipula tors. In this talk\, I will discuss the history\, advantages\, and disadva ntages of adaptive friction models and friction observers. I will then pre sent a novel\, back-drivable friction compensator that combines an adaptiv e Karnopp friction model in parallel with dual disturbance observers for m odel training and disturbance attenuation. Low-speed time-domain demonstra tions show an improvement in trajectory tracking for the combined compensa tor over separate modeled or unmodeled approaches.\n\nRead more about the lab at https://stories.tamu.edu/news/2024/01/10/engineering-leads-collabor ation-for-in-space-operations-technologies/\n\nPark at Alamo Stadium - htt ps://map.trinity.edu/?id=1858#!ct/48724\,71654\,71656\,71657\,71659\,71660 ?m/991683?s/?mc/29.46316899999998\,-98.48067500000002?z/18?lvl/0?share\n\n Speaker(s): Zach\n\nAgenda: \n- Gather/Lunch 11:30\n- Talk starts at 12:00 \n\nRoom: 306\, Bldg: Dicke Hall\, West Campus Lane\, San Antonio\, Texas\ , United States\, 78212\, Virtual: https://events.vtools.ieee.org/m/487872 LOCATION:Room: 306\, Bldg: Dicke Hall\, West Campus Lane\, San Antonio\, Te xas\, United States\, 78212\, Virtual: https://events.vtools.ieee.org/m/48 7872 ORGANIZER:kriskozak@gmail.com SEQUENCE:30 SUMMARY:Actuator Design for In-Space Operations URL;VALUE=URI:https://events.vtools.ieee.org/m/487872 X-ALT-DESC:Description: <br /><p><strong>Abstract</strong>: Full state feed back (FSF) controllers for series elastic actuators bridge the gap between impedance and admittance controllers. For robot manipulators-which must s tably accomplish both stiff and soft behaviors-FSF controllers are ideal c andidate joint controllers. Although previous work on FSF gain tuning has derived necessary and sufficient conditions on controller passivity with t ime-delay and derivative filtering\, they fail to achieve their target imp edance behavior due to the large nonlinear friction found in the high gear -reduction actuators of robot manipulators. In this talk\, I will discuss the history\, advantages\, and disadvantages of adaptive friction models a nd friction observers. I will then present a novel\, back-drivable frictio n compensator that combines an adaptive Karnopp friction model in parallel with dual disturbance observers for model training and disturbance attenu ation. Low-speed time-domain demonstrations show an improvement in traject ory tracking for the combined compensator over separate modeled or unmodel ed approaches.</p>\n<p>&nbsp\;</p>\n<p>Read more about the lab at <a title ="https://stories.tamu.edu/news/2024/01/10/engineering-leads-collaboration -for-in-space-operations-technologies/" href="https://stories.tamu.edu/new s/2024/01/10/engineering-leads-collaboration-for-in-space-operations-techn ologies/">https://stories.tamu.edu/news/2024/01/10/engineering-leads-colla boration-for-in-space-operations-technologies/</a>&nbsp\;</p>\n<p><span da ta-sheets-root="1"><img src="https://events.vtools.ieee.org/vtools_ui/medi a/display/dd69a8ff-a0e0-4d8c-bb4b-54947c912660" width="685" height="478">< br><br>Park at Alamo Stadium - <a href="https://map.trinity.edu/?id=1858#! ct/48724\,71654\,71656\,71657\,71659\,71660?m/991683?s/?mc/29.463168999999 98\,-98.48067500000002?z/18?lvl/0?share">https://map.trinity.edu/?id=1858# !ct/48724\,71654\,71656\,71657\,71659\,71660?m/991683?s/?mc/29.46316899999 998\,-98.48067500000002?z/18?lvl/0?share</a></span></p><br /><br />Agenda: <br /><ul>\n<li>Gather/Lunch 11:30</li>\n<li>Talk starts at 12:00</li>\n< /ul> END:VEVENT END:VCALENDAR