Geometric control tools for robotic manipulators

Domenico Prattichizzo; Paolo Mercorelli

doi:10.23919/ecc.1999.7099836

Geometric control tools for robotic manipulators

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Standard

Geometric control tools for robotic manipulators. / Prattichizzo, Domenico; Mercorelli, Paolo.
Proceedings of the ECC 1999 European Conference on Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 1999. p. 3298-3303 15108302 .

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Prattichizzo, D & Mercorelli, P 1999, Geometric control tools for robotic manipulators. in Proceedings of the ECC 1999 European Conference on Control., 15108302 , IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 3298-3303, European Control Conference - 1999, Karlsruhe, Germany, 31.08.99. https://doi.org/10.23919/ecc.1999.7099836

APA

Prattichizzo, D., & Mercorelli, P. (1999). Geometric control tools for robotic manipulators. In Proceedings of the ECC 1999 European Conference on Control (pp. 3298-3303). Article 15108302 IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ecc.1999.7099836

Vancouver

Prattichizzo D, Mercorelli P. Geometric control tools for robotic manipulators. In Proceedings of the ECC 1999 European Conference on Control. IEEE - Institute of Electrical and Electronics Engineers Inc. 1999. p. 3298-3303. 15108302 doi: 10.23919/ecc.1999.7099836

Bibtex

@inbook{11033708e1a8448da3057edaf3ac1cc4,

title = "Geometric control tools for robotic manipulators",

abstract = "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.",

keywords = "decoupling, force/motion control, functional controllability, Manipulators, Engineering",

author = "Domenico Prattichizzo and Paolo Mercorelli",

note = "This paper belongs to the Proceedings of the European Control Conference 1999, but it appeared in Scopus just in 2015.; European Control Conference - 1999, ECC 1999 ; Conference date: 31-08-1999 Through 03-09-1999",

year = "1999",

month = aug,

day = "1",

doi = "10.23919/ecc.1999.7099836",

language = "English",

isbn = "978-3-9524173-5-5",

pages = "3298--3303",

booktitle = "Proceedings of the ECC 1999 European Conference on Control",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

url = "https://euca-ecc.org/ecc.html?utm_source=researchbib",

}

RIS

TY - CHAP

T1 - Geometric control tools for robotic manipulators

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

N1 - This paper belongs to the Proceedings of the European Control Conference 1999, but it appeared in Scopus just in 2015.

PY - 1999/8/1

Y1 - 1999/8/1

N2 - 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.

AB - 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.

KW - decoupling

KW - force/motion control

KW - functional controllability

KW - Manipulators

KW - Engineering

UR - https://www.mendeley.com/catalogue/378bcb39-d3b4-32b4-98f5-756bc59ddcf3/

U2 - 10.23919/ecc.1999.7099836

DO - 10.23919/ecc.1999.7099836

M3 - Article in conference proceedings

AN - SCOPUS:84930604088

SN - 978-3-9524173-5-5

SP - 3298

EP - 3303

BT - Proceedings of the ECC 1999 European Conference on Control

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - European Control Conference - 1999

Y2 - 31 August 1999 through 3 September 1999

ER -

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