Robust Decoupling Control of Contact Forces in Robotic Manipulation
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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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 Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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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 -