Geometric control tools for robotic manipulators

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-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 languageEnglish
Title of host publicationProceedings of the ECC 1999 European Conference on Control
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date01.08.1999
Pages3298-3303
Article number15108302
ISBN (print)978-3-9524173-5-5
DOIs
Publication statusPublished - 01.08.1999
Externally publishedYes
EventEuropean Control Conference - 1999 - Karlsruhe, Germany
Duration: 31.08.199903.09.1999
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.

    Research areas

  • decoupling, force/motion control, functional controllability, Manipulators
  • Engineering