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 -