Geometric control tools for robotic manipulators
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Geometric control tools for robotic manipulators. / Prattichizzo, Domenico; Mercorelli, Paolo.
Proceedings of the ECC 1999 European Conference on Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 1999. S. 3298-3303 15108302 .Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Geometric control tools for robotic manipulators
AU - Prattichizzo, Domenico
AU - Mercorelli, Paolo
N1 - This paper belongs to the Proceedings of the European Control Conference 1999, but it appeared in Scopus just in 2015.
PY - 1999/8/1
Y1 - 1999/8/1
N2 - This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating linkages, interacting with a reference member of the mechanism (the 'object') by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.
AB - This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating linkages, interacting with a reference member of the mechanism (the 'object') by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.
KW - decoupling
KW - force/motion control
KW - functional controllability
KW - Manipulators
KW - Engineering
UR - https://www.mendeley.com/catalogue/378bcb39-d3b4-32b4-98f5-756bc59ddcf3/
U2 - 10.23919/ecc.1999.7099836
DO - 10.23919/ecc.1999.7099836
M3 - Article in conference proceedings
AN - SCOPUS:84930604088
SN - 978-3-9524173-5-5
SP - 3298
EP - 3303
BT - Proceedings of the ECC 1999 European Conference on Control
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - European Control Conference - 1999
Y2 - 31 August 1999 through 3 September 1999
ER -