Geometric control techniques for manipulation systems
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Geometric control techniques for manipulation systems. / Prattichizzo, Domenico; Mercorelli, Paolo; Bicchi, Antonio et al.
Proceedings of the IFAC International Conference on Control of Industrial Systems. Elsevier B.V., 1997. S. 1599-1604 (IFAC Proceedings; Band 30, Nr. 6).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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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 -