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On the Decoupling and Output Functional Controllability of Robotic Manipulation

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet

Authors

The problem of force/motion control in robotic manipulation is studied. A noninteracting control law of grasping contact forces and object motions is proposed. In order to achieve force/motion trajectory tracking without transient errors, the output functional controllability of the controlled output is investigated. The framework throughout is the geometric approach to the multivariable systems. Numerical examples are provided to show the effectiveness of the proposed control law.
OriginalspracheEnglisch
TitelProceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97
HerausgeberMichel Guglielmi
Anzahl der Seiten6
VerlagPergamom Pr
Erscheinungsdatum01.09.1997
Seiten289-294
ISBN (Print)9780080430263
DOIs
PublikationsstatusErschienen - 01.09.1997
Extern publiziertJa
Veranstaltung5th International Federation of Automatic Control Symposium on Robot Control - 1997 - Nantes, Frankreich
Dauer: 03.09.1997 → 05.09.1997
Konferenznummer: 5
https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&cad=rja&uact=8&ved=2ahUKEwiXypq3qazrAhXRjqQKHaQbDu0QFjAEegQIBRAB&url=https%3A%2F%2Fwww.ifac-control.org%2Fpublications%2F1989-1997%2F1997_6%2Fat_download%2Ffile&usg=AOvVaw1c28K-O6VivGXtLLQ1kzH7

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