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Proceedings Papers

Modeling and Comparative Investigation of a TriTec Power Unit

S. Raghibizadeh, A. Kapps, A. A. Goldenberg, E. Tsang, J. A. Rowe, M. E. Timm

Proc. ASME. IMECE97, Fluid Power Systems and Technology, 83-92, November 16–21, 1997

Publisher: American Society of Mechanical Engineers

Paper No: IMECE1997-1286

https://doi.org/10.1115/IMECE1997-1286

View Paper titled, Modeling and Comparative Investigation of a TriTec Power Unit

Topics: Modeling, Motors

Proceedings Papers

Model Identification of a High Performance Hydrostatic Actuation System

S. R. Habibi, V. Pastrakuljic, A. A. Goldenberg

Proc. ASME. IMECE2000, Fluid Power Systems and Technology, 113-119, November 5–10, 2000

Publisher: American Society of Mechanical Engineers

Paper No: IMECE2000-1982

https://doi.org/10.1115/IMECE2000-1982

View Paper titled, Model Identification of a High Performance Hydrostatic Actuation System

Topics: Actuators, Hydrostatics

Proceedings Papers

Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

C. Raoufi, A. A. Goldenberg, W. Kucharczyk, H. Hadian

Proc. ASME. IMECE2008, Volume 2: Biomedical and Biotechnology Engineering, 399-406, October 31–November 6, 2008

Publisher: American Society of Mechanical Engineers

Paper No: IMECE2008-68302

https://doi.org/10.1115/IMECE2008-68302

View Paper titled, Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

Topics: Brain, Kinematics, Manipulators, Navigation, Needles, Surgery, Design, Magnetic resonance imaging, Robotics, Ablation (Vaporization technology)

Journal Articles

Modeling of Flexible Robot-Payload Systems Through Component Synthesis

T. Zhou,, J. W. Zu, and, A. A. Goldenberg

Publisher: ASME

J. Dyn. Sys., Meas., Control. June 2000, 122(2): 381–386.

https://doi.org/10.1115/1.482477

Published Online: January 12, 1998

View Article titled, Modeling of Flexible Robot-Payload Systems Through Component Synthesis

Topics: Modeling, Robots

Journal Articles

A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws

R. P. Podhorodeski, A. A. Goldenberg, R. G. Fenton

Publisher: ASME

J. Mech. Des. September 1993, 115(3): 530–539.

https://doi.org/10.1115/1.2919222

Published Online: September 1, 1993

View Article titled, A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws

Topics: Kinematics, Redundant manipulators, Screws, Manipulators, Chain

Journal Articles

Stability Analysis of a Bilateral Teleoperating System

Y. Strassberg, A. A. Goldenberg, J. K. Mills

Publisher: ASME

J. Dyn. Sys., Meas., Control. September 1993, 115(3): 419–426.

https://doi.org/10.1115/1.2899118

Published Online: September 1, 1993

View Article titled, Stability Analysis of a Bilateral Teleoperating System

Topics: Stability, Closed loop systems, Dynamics (Mechanics), Errors, Feedback, Simulation, Theorems (Mathematics), Torque

Journal Articles

An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots

Yan-Ru Hu, A. A. Goldenberg

Publisher: ASME

J. Dyn. Sys., Meas., Control. March 1993, 115(1): 60–69.

https://doi.org/10.1115/1.2897408

Published Online: March 1, 1993

View Article titled, An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots

Topics: Force control, Robots, Errors, Adaptive control, Dynamic models, Robotics, Stability

Journal Articles

Geometric Uncertainty in Off-Line Programming of Robot Manipulators for Assembly Tasks

A. A. Goldenberg, F. J. McQuillan

Publisher: ASME

J. Dyn. Sys., Meas., Control. June 1991, 113(2): 329–334.

https://doi.org/10.1115/1.2896387

Published Online: June 1, 1991

View Article titled, Geometric Uncertainty in Off-Line Programming of Robot Manipulators for Assembly Tasks

Topics: Computer programming, Manipulators, Manufacturing, Uncertainty, Robots, Computer-aided design, Errors

Journal Articles

Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty

J. K. Mills, A. A. Goldenberg

Publisher: ASME

J. Dyn. Sys., Meas., Control. September 1989, 111(3): 444–451.

https://doi.org/10.1115/1.3153074

Published Online: September 1, 1989

View Article titled, Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty

Topics: Manipulators, Robust control, Uncertainty, Control equipment, Closed loop systems, Feedback, Signals, Errors, Inertia (Mechanics), Robotics

Journal Articles

An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique

A. A. Goldenberg, J. A. Apkarian, H. W. Smith

Publisher: ASME

J. Dyn. Sys., Meas., Control. March 1989, 111(1): 1–8.

https://doi.org/10.1115/1.3153014

Published Online: March 1, 1989

View Article titled, An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique

Topics: Adaptive control, Manipulators, Torque, Approximation, Dynamics (Mechanics), Uncertainty, Control systems, Errors, Feedback, Manipulator dynamics

Journal Articles

A New Approach to Kinematic Control of Robot Manipulators

A. A. Goldenberg, J. A. Apkarian, H. W. Smith

Publisher: ASME

J. Dyn. Sys., Meas., Control. June 1987, 109(2): 97–103.

https://doi.org/10.1115/1.3143843

Published Online: June 1, 1987

View Article titled, A New Approach to Kinematic Control of Robot Manipulators

Topics: Kinematics, Manipulators, Approximation, Errors, Feedback, Optimal control, Robots

Journal Articles

Optimal Continuous Path Planning for Seven-Degrees-of-Freedom Robots

B. Benhabib, A. A. Goldenberg, R. G. Fenton

Publisher: ASME

J. Manuf. Sci. Eng. August 1986, 108(3): 213–218.

https://doi.org/10.1115/1.3187066

Published Online: August 1, 1986

View Article titled, Optimal Continuous Path Planning for Seven-Degrees-of-Freedom Robots

Topics: Path planning, Robots, End effectors, Trajectories (Physics), Degrees of freedom, Interpolation, Motion control, Optimization, Polynomials

Journal Articles

End Effector Path Generation

A. A. Goldenberg, D. L. Lawrence

Publisher: ASME

J. Dyn. Sys., Meas., Control. June 1986, 108(2): 158–162.

https://doi.org/10.1115/1.3143761

Published Online: June 1, 1986

View Article titled, End Effector Path Generation

Topics: End effectors, Approximation, Kinematics, Polynomials, Manipulators, Robots

Journal Articles

Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

R. G. Fenton, B. Benhabib, A. A. Goldenberg

Publisher: ASME

J. Manuf. Sci. Eng. May 1986, 108(2): 120–126.

https://doi.org/10.1115/1.3187046

Published Online: May 1, 1986

View Article titled, Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

Topics: Degrees of freedom, Motion control, Robots, Optimization, Computation, Displacement, End effectors

Journal Articles

A Generalized Solution to the Inverse Kinematics of Robotic Manipulators

A. A. Goldenberg, D. L. Lawrence

Publisher: ASME

J. Dyn. Sys., Meas., Control. March 1985, 107(1): 103–106.

https://doi.org/10.1115/1.3140699

Published Online: March 1, 1985

View Article titled, A Generalized Solution to the Inverse Kinematics of Robotic Manipulators

Topics: Kinematics, Manipulators, Algorithms, End effectors

Journal Articles

Discussion: “A Linear Algebra Approach to the Analysis of Rigid Body Velocity from Position and Velocity Data” (Laub, A. J., and Shiflett, G. R., 1983, ASME J. Dyn. Syst., Meas., Control, 105, pp. 92–95)

A. A. Goldenberg

Publisher: ASME

J. Dyn. Sys., Meas., Control. September 1984, 106(3): 240.

https://doi.org/10.1115/1.3149679

Published Online: September 1, 1984

View Article titled, Discussion: “A Linear Algebra Approach to the Analysis of Rigid Body Velocity from Position and Velocity Data” (Laub, A. J., and Shiflett, G. R., 1983, ASME J. Dyn. Syst., Meas., Control, 105, pp. 92–95)

Topics: Linear algebra, Membrane electrode assemblies

Journal citation

NARROW

Modeling and Comparative Investigation of a TriTec Power Unit

Model Identification of a High Performance Hydrostatic Actuation System

Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

Modeling of Flexible Robot-Payload Systems Through Component Synthesis

A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws

Stability Analysis of a Bilateral Teleoperating System

An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots

Geometric Uncertainty in Off-Line Programming of Robot Manipulators for Assembly Tasks

Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty

An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique

A New Approach to Kinematic Control of Robot Manipulators

Optimal Continuous Path Planning for Seven-Degrees-of-Freedom Robots

End Effector Path Generation

Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

A Generalized Solution to the Inverse Kinematics of Robotic Manipulators

Discussion: “A Linear Algebra Approach to the Analysis of Rigid Body Velocity from Position and Velocity Data” (Laub, A. J., and Shiflett, G. R., 1983, ASME J. Dyn. Syst., Meas., Control, 105, pp. 92–95)

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