On the Decoupling and Output Functional Controllability of Robotic Manipulation
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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On the Decoupling and Output Functional Controllability of Robotic Manipulation. / Prattichizzo, Domenico; Mercorelli, Paolo; Bicchi, Antonio et al.
Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97. Hrsg. / Michel Guglielmi. Pergamom Pr, 1997. S. 289-294 (IFAC Proceedings; Band 30, Nr. 20).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - On the Decoupling and Output Functional Controllability of Robotic Manipulation
AU - Prattichizzo, Domenico
AU - Mercorelli, Paolo
AU - Bicchi, Antonio
AU - Vicino, Antonio
N1 - Conference code: 5
PY - 1997/9/1
Y1 - 1997/9/1
N2 - 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.
AB - 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.
KW - Engineering
KW - manipulators
KW - geometric approach
KW - noninteraction
KW - output functional
KW - controllability
U2 - 10.1016/S1474-6670(17)44278-9
DO - 10.1016/S1474-6670(17)44278-9
M3 - Article in conference proceedings
SN - 9780080430263
T3 - IFAC Proceedings
SP - 289
EP - 294
BT - Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97
A2 - Guglielmi, Michel
PB - Pergamom Pr
T2 - 5th International Federation of Automatic Control Symposium on Robot Control - 1997
Y2 - 3 September 1997 through 5 September 1997
ER -