A geometric procedure for robust decoupling control of contact forces in robotic manipulation
Research output: Journal contributions › Journal articles › Research › peer-review
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. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient condition's 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.
| Original language | English |
|---|---|
| Journal | Kybernetika |
| Volume | 39 |
| Issue number | 4 |
| Pages (from-to) | 433-445 |
| Number of pages | 13 |
| ISSN | 0023-5954 |
| Publication status | Published - 2003 |
| Externally published | Yes |
- Elastic contacts, Geometric approach, Manipulators, Robustness, Control equipment, Damping, Elasticity, Force measurement, Robotics, Robustness (control systems), Stiffness
- Engineering