A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems

Paolo Mercorelli

A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

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A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems. / Mercorelli, Paolo.

in: Journal of Mathematical Control Science and Applications , Jahrgang 1, Nr. 1, 2007, S. 153-160.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Bibtex

@article{d66db671a81444e7b13065cbc525e8a7,

title = "A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems",

abstract = "Due to technological development, robotics applications are growing in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment (special effects in cinema). Robotic devices with high performance in precision and speed are required for all these advanced functions. Through a new approach to the study of robotic manipulation this paper presents some constructive matricesstructures which can be used to design force controllers. It is based on the well{known geometric control of system dynamics. In such a framework some typical problems in robotics can be mathematically formalized and analyzed. A generalized linear model is used and a careful analysis is made. The main result consists of proposing an explicit new matrices structure for grasping internal forces.",

keywords = "Engineering",

author = "Paolo Mercorelli",

year = "2007",

language = "English",

volume = "1",

pages = "153--160",

journal = "Journal of Mathematical Control Science and Applications",

issn = "0974-0570",

publisher = "International Sciences Press",

number = "1",

}

RIS

TY - JOUR

T1 - A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems

AU - Mercorelli, Paolo

PY - 2007

Y1 - 2007

N2 - Due to technological development, robotics applications are growing in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment (special effects in cinema). Robotic devices with high performance in precision and speed are required for all these advanced functions. Through a new approach to the study of robotic manipulation this paper presents some constructive matricesstructures which can be used to design force controllers. It is based on the well{known geometric control of system dynamics. In such a framework some typical problems in robotics can be mathematically formalized and analyzed. A generalized linear model is used and a careful analysis is made. The main result consists of proposing an explicit new matrices structure for grasping internal forces.

AB - Due to technological development, robotics applications are growing in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment (special effects in cinema). Robotic devices with high performance in precision and speed are required for all these advanced functions. Through a new approach to the study of robotic manipulation this paper presents some constructive matricesstructures which can be used to design force controllers. It is based on the well{known geometric control of system dynamics. In such a framework some typical problems in robotics can be mathematically formalized and analyzed. A generalized linear model is used and a careful analysis is made. The main result consists of proposing an explicit new matrices structure for grasping internal forces.

KW - Engineering

UR - https://zbmath.org/?q=an:1170.93317&format=complete

M3 - Journal articles

VL - 1

SP - 153

EP - 160

JO - Journal of Mathematical Control Science and Applications

JF - Journal of Mathematical Control Science and Applications

SN - 0974-0570

IS - 1

ER -