A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system. / Mercorelli, Paolo.
in: Applied Mechanics and Materials, Jahrgang 534, 2014, S. 93-103.Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system
AU - Mercorelli, Paolo
N1 - ISBN: 978-3-03835-038-5. Titel d. Bandes: Advances in Kinematics, Mechanics of Rigid Bodies, and Materials Sciences
PY - 2014
Y1 - 2014
N2 - This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well-known geometric control of system dynamics. In such a framework some typical problems in robotics are mathematically formalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in robotic manipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is used and a careful analysis is made. The main result consists in proposing a task-oriented choice of the controlled outputs, for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupled linear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms. The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system to speed up the dynamic of the considered mechanism.
AB - This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well-known geometric control of system dynamics. In such a framework some typical problems in robotics are mathematically formalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in robotic manipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is used and a careful analysis is made. The main result consists in proposing a task-oriented choice of the controlled outputs, for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupled linear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms. The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system to speed up the dynamic of the considered mechanism.
KW - Engineering
KW - decoupling
KW - force/motion control
KW - geometric approach
KW - manipulators
KW - model predictive control
UR - http://www.scopus.com/inward/record.url?scp=84896843550&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.534.93
DO - 10.4028/www.scientific.net/AMM.534.93
M3 - Journal articles
AN - SCOPUS:84896843550
VL - 534
SP - 93
EP - 103
JO - Applied Mechanics and Materials
JF - Applied Mechanics and Materials
SN - 1660-9336
ER -