Robust Decoupling Control of Contact Forces in Robotic Manipulation

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

Robust Decoupling Control of Contact Forces in Robotic Manipulation. / Prattichizzo, Domenico; Mercorelli, Paolo; Vicino, Antonio.
Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97. Hrsg. / Csilla Bányász. Band 30 Pergamon Press, 1997. S. 79-84 (IFAC Proceedings Volumes; Band 30, Nr. 16).

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Prattichizzo, D, Mercorelli, P & Vicino, A 1997, Robust Decoupling Control of Contact Forces in Robotic Manipulation. in C Bányász (Hrsg.), Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97. Bd. 30, IFAC Proceedings Volumes, Nr. 16, Bd. 30, Pergamon Press, S. 79-84, 2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997, Budapest, Ungarn, 25.06.97. https://doi.org/10.1016/S1474-6670(17)42585-7

APA

Prattichizzo, D., Mercorelli, P., & Vicino, A. (1997). Robust Decoupling Control of Contact Forces in Robotic Manipulation. In C. Bányász (Hrsg.), Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97 (Band 30, S. 79-84). (IFAC Proceedings Volumes; Band 30, Nr. 16). Pergamon Press. https://doi.org/10.1016/S1474-6670(17)42585-7

Vancouver

Prattichizzo D, Mercorelli P, Vicino A. Robust Decoupling Control of Contact Forces in Robotic Manipulation. in Bányász C, Hrsg., Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97. Band 30. Pergamon Press. 1997. S. 79-84. (IFAC Proceedings Volumes; 16). doi: 10.1016/S1474-6670(17)42585-7

Bibtex

@inbook{7c418b8f079b4150bc171804fd5d9335,
title = "Robust Decoupling Control of Contact Forces in Robotic Manipulation",
abstract = "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.",
keywords = "Engineering",
author = "Domenico Prattichizzo and Paolo Mercorelli and Antonio Vicino",
year = "1997",
month = jun,
day = "1",
doi = "10.1016/S1474-6670(17)42585-7",
language = "English",
isbn = "0080426069",
volume = "30",
series = "IFAC Proceedings Volumes",
publisher = "Pergamon Press",
number = "16",
pages = "79--84",
editor = "Csilla B{\'a}ny{\'a}sz",
booktitle = "Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97",
address = "United States",
note = "2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997, ROCOND'97 ; Conference date: 25-06-1997 Through 27-06-1997",
url = "https://www.ifac-control.org/about/symposia-conferences-and-workshops",

}

RIS

TY - CHAP

T1 - Robust Decoupling Control of Contact Forces in Robotic Manipulation

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

AU - Vicino, Antonio

N1 - Conference code: 2

PY - 1997/6/1

Y1 - 1997/6/1

N2 - 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.

AB - 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.

KW - Engineering

U2 - 10.1016/S1474-6670(17)42585-7

DO - 10.1016/S1474-6670(17)42585-7

M3 - Article in conference proceedings

SN - 0080426069

SN - 978-0080426068

VL - 30

T3 - IFAC Proceedings Volumes

SP - 79

EP - 84

BT - Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97

A2 - Bányász, Csilla

PB - Pergamon Press

T2 - 2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997

Y2 - 25 June 1997 through 27 June 1997

ER -

DOI