Internal forces in robotic manipulation and in general mechanisms using a geometric approach

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Internal forces in robotic manipulation and in general mechanisms using a geometric approach. / Mercorelli, Paolo.
in: International Journal of Pure and Applied Mathematics, Jahrgang 79, Nr. 2, 2012, S. 293-301.

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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@article{54536e32c12c49bdacc632e804a17c01,
title = "Internal forces in robotic manipulation and in general mechanisms using a geometric approach",
abstract = "Robotic devices with high performance in precision and speed are required in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment. This paper presents some constructive geometric structures which can be used to design force controllers for robotic manipulators and general mechanisms. The approach is based on the well-known geometric control of system dynamics. In such a framework which uses elements of the invariant subspace theory, 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 of the paper consists of proposing an explicit new subspace structure for grasping internal forces in robotic manipulations and general mechanisms.",
keywords = "Engineering, Internal forces, Manipulators, Matrices, Subspaces",
author = "Paolo Mercorelli",
note = "Copyright 2012 Elsevier B.V., All rights reserved.",
year = "2012",
language = "English",
volume = "79",
pages = "293--301",
journal = "International Journal of Pure and Applied Mathematics",
issn = "1311-8080",
publisher = "Academic Publications Ltd.",
number = "2",

}

RIS

TY - JOUR

T1 - Internal forces in robotic manipulation and in general mechanisms using a geometric approach

AU - Mercorelli, Paolo

N1 - Copyright 2012 Elsevier B.V., All rights reserved.

PY - 2012

Y1 - 2012

N2 - Robotic devices with high performance in precision and speed are required in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment. This paper presents some constructive geometric structures which can be used to design force controllers for robotic manipulators and general mechanisms. The approach is based on the well-known geometric control of system dynamics. In such a framework which uses elements of the invariant subspace theory, 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 of the paper consists of proposing an explicit new subspace structure for grasping internal forces in robotic manipulations and general mechanisms.

AB - Robotic devices with high performance in precision and speed are required in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment. This paper presents some constructive geometric structures which can be used to design force controllers for robotic manipulators and general mechanisms. The approach is based on the well-known geometric control of system dynamics. In such a framework which uses elements of the invariant subspace theory, 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 of the paper consists of proposing an explicit new subspace structure for grasping internal forces in robotic manipulations and general mechanisms.

KW - Engineering

KW - Internal forces

KW - Manipulators

KW - Matrices

KW - Subspaces

UR - http://www.scopus.com/inward/record.url?scp=84866550530&partnerID=8YFLogxK

UR - http://ijpam.eu/contents/2012-79-2/index.html

M3 - Journal articles

AN - SCOPUS:84866550530

VL - 79

SP - 293

EP - 301

JO - International Journal of Pure and Applied Mathematics

JF - International Journal of Pure and Applied Mathematics

SN - 1311-8080

IS - 2

ER -

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