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Farhad Aghili
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Journal Articles

Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces

Farhad Aghili
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2011, 6(3): 031013.
https://doi.org/10.1115/1.4002689
Published Online: February 2, 2011
View Article titled, Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Kinematics, Manipulators, Quadratic programming, Redundant manipulators, Robotics, Topology, Torque
Journal Articles

Projection-Based Control of Parallel Mechanisms

Farhad Aghili
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2011, 6(3): 031009.
https://doi.org/10.1115/1.4002942
Published Online: February 1, 2011
View Article titled, Projection-Based Control of Parallel Mechanisms
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Manipulators, Parallel mechanisms, Torque, Kinematics, Degrees of freedom, Stability, Torque control
Journal Articles

Robust Impedance Control of Manipulators Carrying a Heavy Payload

Farhad Aghili
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2010, 132(5): 051011.
https://doi.org/10.1115/1.4001898
Published Online: August 24, 2010
View Article titled, Robust Impedance Control of Manipulators Carrying a Heavy Payload
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Topics: Manipulators, Stability, Control equipment, Inertia (Mechanics), Uncertainty, Sensors
Proceedings Papers

Impedance Control of Manipulators With Heavy Payload for Spacecraft Rendezvous and Docking Simulators

Farhad Aghili
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 861-870, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86529
https://doi.org/10.1115/DETC2009-86529
View Paper titled, Impedance Control of Manipulators With Heavy Payload for Spacecraft Rendezvous and Docking Simulators
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Topics: Manipulators, Space vehicles, Feedback, Calibration, Control equipment, Engineering prototypes, Flight, Grasping, Inertia (Mechanics), Noise (Sound)
Proceedings Papers

Invariant Modeling of Mechanical Systems in Terms of Quasi-Velocities and Quasi-Forces

Farhad Aghili
Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 1927-1937, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86349
https://doi.org/10.1115/DETC2009-86349
View Paper titled, Invariant Modeling of Mechanical Systems in Terms of Quasi-Velocities and Quasi-Forces
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Topics: Equations of motion, Force control, Gages, Gauge invariance, Modeling, Motion control
Journal Articles

A Gauge-Invariant Formulation for Constrained Mechanical Systems Using Square-Root Factorization and Unitary Transformation

Farhad Aghili
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2009, 4(3): 031010.
https://doi.org/10.1115/1.3124094
Published Online: June 9, 2009
View Article titled, A Gauge-Invariant Formulation for Constrained Mechanical Systems Using Square-Root Factorization and Unitary Transformation
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Topics: Dynamics (Mechanics), Equations of motion, Force control, Gages, Manipulators, Motion control, Robots, Inertia (Mechanics), Kinetic energy, Tracking control
Proceedings Papers

Adaptive Suppression of Torque Harmonics in Brushless Motors

Farhad Aghili
Proc. ASME. IDETC-CIE2007, Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference, 275-283, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34566
https://doi.org/10.1115/DETC2007-34566
View Paper titled, Adaptive Suppression of Torque Harmonics in Brushless Motors
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Topics: Motors, Torque, Control equipment, Torque control, Modeling, Signals, Stress
Proceedings Papers

A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators

Mehrzad Namvar, Farhad Aghili
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1259-1266, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34353
https://doi.org/10.1115/DETC2002/MECH-34353
View Paper titled, A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators
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Topics: Hydraulic actuators, Torque control, Actuators, Control equipment, Dynamics (Mechanics), Feedback, Torque, Composite materials, Modeling, Robotics
Journal Articles

A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators

Mehrzad Namvar, Farhad Aghili
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2003, 125(4): 595–606.
https://doi.org/10.1115/1.1636777
Published Online: January 29, 2004
View Article titled, A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Torque, Uncertainty, Stress, Hydraulic actuators, Stability, Torque control, Signals
Journal Articles

Sensing the Torque in a Robot’s Joints

Farhad Aghili, Martin Buehler, John M. Hollerbach
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. September 1998, 120(09): 66–69.
https://doi.org/10.1115/1.1998-Sep-2
Published Online: September 1, 1998
View Article titled, Sensing the Torque in a Robot’s Joints
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Topics: Design, Finite element analysis, Robots, Sensors, Stress, Torque, Torsion, Thrust, Stiffness, Strain gages