Geometric control tools for robotic manipulators
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating linkages, interacting with a reference member of the mechanism (the 'object') by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the ECC 1999 European Conference on Control |
| Number of pages | 6 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 01.08.1999 |
| Pages | 3298-3303 |
| Article number | 15108302 |
| ISBN (print) | 978-3-9524173-5-5 |
| DOIs | |
| Publication status | Published - 01.08.1999 |
| Externally published | Yes |
| Event | European Control Conference - 1999 - Karlsruhe, Germany Duration: 31.08.1999 → 03.09.1999 https://euca-ecc.org/ecc.html?utm_source=researchbib |
Bibliographical note
This paper belongs to the Proceedings of the European Control Conference 1999, but it appeared in Scopus just in 2015.
- decoupling, force/motion control, functional controllability, Manipulators
- Engineering