A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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in: Journal of Mathematical Control Science and Applications , Jahrgang 1, Nr. 1, 2007, S. 153-160.
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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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 -