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A Subspace to Describe Grasping Internal Forces in Robotic Manipulation Systems

Research output: Journal contributions › Journal articles › Research › peer-review

Authors

Due to technological development, robotics applications are growing in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment (special effects in cinema). Robotic devices with high performance in precision and speed are required for all these advanced functions. Through a new approach to the study of robotic manipulation this paper presents some constructive matrices
structures which can be used to design force controllers. It is based on the well{known geometric control of system dynamics. In such a framework some typical problems in robotics can be mathematically formalized and analyzed. A generalized linear model is used and a careful analysis is made. The main result consists of proposing an explicit new matrices structure for grasping internal forces.
Original languageEnglish
JournalJournal of Mathematical Control Science and Applications
Volume1
Issue number1
Pages (from-to)153-160
Number of pages8
ISSN0974-0570
Publication statusPublished - 2007
Externally publishedYes

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