TY - CHAP

T1 - Geometric control techniques for manipulation systems

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

AU - Bicchi, Antonio

AU - Vicino, Antonio

PY - 1997/5/1

Y1 - 1997/5/1

N2 - The control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid body object motions. A state feedback control procedure is outlined for decoupling these outputs and nally special attention is devoted to the synthesis of the state observer.

AB - The control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid body object motions. A state feedback control procedure is outlined for decoupling these outputs and nally special attention is devoted to the synthesis of the state observer.

KW - Engineering

KW - Manipulators

KW - geometric approach

KW - noninteraction

KW - state observer

U2 - 10.1016/S1474-6670(17)43589-0

DO - 10.1016/S1474-6670(17)43589-0

M3 - Article in conference proceedings

T3 - IFAC Proceedings

SP - 1599

EP - 1604

BT - Proceedings of the IFAC International Conference on Control of Industrial Systems

PB - Elsevier B.V.

T2 - International Federation of Automatic Control Conference on Control of Industrial Systems - 1997

Y2 - 20 May 1997 through 22 May 1997

ER -