TY - JOUR

T1 - A geometric procedure for robust decoupling control of contact forces in robotic manipulation

AU - Mercorelli, P.

AU - Prattichizzo, Domenico

PY - 2003

Y1 - 2003

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. 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.

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. 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.

KW - Elastic contacts

KW - Geometric approach

KW - Manipulators

KW - Robustness

KW - Control equipment

KW - Damping

KW - Elasticity

KW - Force measurement

KW - Robotics

KW - Robustness (control systems)

KW - Stiffness

KW - Engineering

M3 - Journal articles

VL - 39

SP - 433

EP - 445

JO - Kybernetika

JF - Kybernetika

SN - 0023-5954

IS - 4

ER -