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 -