Noninteracting force/motion control of defective manipulation systems
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Noninteracting force/motion control of defective manipulation systems. / Prattichizzo, D.; Mercorelli, P.; Bicchi, Antonio et al.
Proceedings of the IEEE Conference on Decision and Control. Hrsg. / Anon. Band 2 IEEE - Institute of Electrical and Electronics Engineers Inc., 1996. S. 1952-1957 (Proceedings of the IEEE Conference on Decision and Control; Band 2).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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RIS
TY - CHAP
T1 - Noninteracting force/motion control of defective manipulation systems
AU - Prattichizzo, D.
AU - Mercorelli, P.
AU - Bicchi, Antonio
AU - Vicino, A.
N1 - Conference code: 35
PY - 1996
Y1 - 1996
N2 - This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified.
AB - This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified.
KW - Engineering
KW - Equations of motion
KW - Force control
KW - Kinematics
KW - Mathematical models
KW - Motion control
KW - Redundancy
KW - Structural noninteraction property
KW - Manipulators
UR - http://www.scopus.com/inward/record.url?scp=0030384524&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/e10d22b3-ffa5-3c4e-aeff-35d080b38518/
U2 - 10.1109/CDC.1996.572865
DO - 10.1109/CDC.1996.572865
M3 - Article in conference proceedings
SN - 0-7803-3590-2
VL - 2
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1952
EP - 1957
BT - Proceedings of the IEEE Conference on Decision and Control
A2 - Anon, null
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 35th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1996
Y2 - 13 December 1996 through 16 December 1996
ER -