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Robust Decoupling Control of Contact Forces in Robotic Manipulation

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

Authors

This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. Robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.
OriginalspracheEnglisch
TitelProceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97
HerausgeberCsilla Bányász
Anzahl der Seiten6
Band30
VerlagPergamon Press
Erscheinungsdatum01.06.1997
Seiten79-84
ISBN (Print)0080426069, 978-0080426068
DOIs
PublikationsstatusErschienen - 01.06.1997
Extern publiziertJa
Veranstaltung2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997 - Budapest, Ungarn
Dauer: 25.06.1997 → 27.06.1997
Konferenznummer: 2
https://www.ifac-control.org/about/symposia-conferences-and-workshops

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