A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system

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A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system. / Mercorelli, Paolo.
In: Applied Mechanics and Materials, Vol. 534, 2014, p. 93-103.

Research output: Journal contributionsJournal articlesResearchpeer-review

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@article{2b284c7413c8430ca6f4bb9640c33dd3,
title = "A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system",
abstract = "This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well-known geometric control of system dynamics. In such a framework some typical problems in robotics are mathematically formalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in robotic manipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is used and a careful analysis is made. The main result consists in proposing a task-oriented choice of the controlled outputs, for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupled linear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms. The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system to speed up the dynamic of the considered mechanism.",
keywords = "Engineering, decoupling, force/motion control, geometric approach, manipulators, model predictive control",
author = "Paolo Mercorelli",
note = "ISBN: 978-3-03835-038-5. Titel d. Bandes: Advances in Kinematics, Mechanics of Rigid Bodies, and Materials Sciences",
year = "2014",
doi = "10.4028/www.scientific.net/AMM.534.93",
language = "English",
volume = "534",
pages = "93--103",
journal = "Applied Mechanics and Materials",
issn = "1660-9336",
publisher = "Trans Tech Publications",

}

RIS

TY - JOUR

T1 - A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system

AU - Mercorelli, Paolo

N1 - ISBN: 978-3-03835-038-5. Titel d. Bandes: Advances in Kinematics, Mechanics of Rigid Bodies, and Materials Sciences

PY - 2014

Y1 - 2014

N2 - This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well-known geometric control of system dynamics. In such a framework some typical problems in robotics are mathematically formalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in robotic manipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is used and a careful analysis is made. The main result consists in proposing a task-oriented choice of the controlled outputs, for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupled linear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms. The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system to speed up the dynamic of the considered mechanism.

AB - This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well-known geometric control of system dynamics. In such a framework some typical problems in robotics are mathematically formalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in robotic manipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is used and a careful analysis is made. The main result consists in proposing a task-oriented choice of the controlled outputs, for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupled linear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms. The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system to speed up the dynamic of the considered mechanism.

KW - Engineering

KW - decoupling

KW - force/motion control

KW - geometric approach

KW - manipulators

KW - model predictive control

UR - http://www.scopus.com/inward/record.url?scp=84896843550&partnerID=8YFLogxK

U2 - 10.4028/www.scientific.net/AMM.534.93

DO - 10.4028/www.scientific.net/AMM.534.93

M3 - Journal articles

AN - SCOPUS:84896843550

VL - 534

SP - 93

EP - 103

JO - Applied Mechanics and Materials

JF - Applied Mechanics and Materials

SN - 1660-9336

ER -