1. //
  2. Start
  3. //
  4. Publications
  5. Geometric control tools for robotic mani...
  6. Output formats
  7. //

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 -

Other publications by the same author(s)

Advancing Sustainability and Productivity: The Role of Precision Agriculture in Vineyards and Olive Groves

Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference (ICCC): Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

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

A Fluid Elastomeric Actuator Design for Soft Robots

Els, D., van Niekerk, T., Mercorelli, P. & Welgemoed, J., 09.2025, In: Actuators. 14, 9, 14 p., 417.

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

An innovative efficiency of incubator to enhance organization supportive business using machine learning approach

Li, X., Zhang, Q., Gu, H., Othmen, S., Asklany, S., Lhioui, C., Elrashidi, A. & Mercorelli, P., 07.2025, In: PLoS ONE. 20, 7, 22 p., e0327249.

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

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

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

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, In: IEEE Open Journal of Power Electronics. 6, p. 734-746 13 p.

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

DOI

Recently viewed

Researchers

  1. Fabio Mariani

Activities

  1. Investigating the relationship between teachers' acceptance and use of educational technology and student data
  2. Future Challenges and Opportunities for the Study of National Stereotypes 2008
  3. Biodiversity and ecosystem functions in the public - views, misconceptions and misunderstandings
  4. Designmethoden in transdisziplinären Teams
  5. Public Lecture Series "Global Politics" - 2013
  6. Journal of Management Studies Paper Development Workshop - JMS 2015
  7. 83rd Annual Meeting of the Academy of Management: Putting the Worker Front and Center
  8. Mutual Knowledge Conference
  9. 2. Workshop Netzwerk Medienstrukturen - 2011
  10. Assessing Learning Outcomes Of Education For Sustainable Development
  11. University of Brighton
  12. Local alternatives of agrobiodiversity use and management in the rurality of Bogotá, Colombia
  13. Irreversibility, ignorance, and the intergenerational equity-efficiency trade-off
  14. BNE-Tagung Januar - 2013
  15. Current overview of research on priority effects and their relevance to restoration
  16. Towards more radical forms of governance for business and human rights: From management practice to management education

Publications

  1. Recruitment practices in small and medium size enterprises.
  2. Planning for Sea Spaces I
  3. I share because of who I am: values, identities, norms, and attitudes explain sharing intentions
  4. Emotion Prediction by Facial Expressions in Human-Computer Interfaces
  5. Geodetic rays and fibers in periodic graphs
  6. The conservation against development paradigm in protected areas
  7. Drawing as a Generative Activity and Drawing as a Prognostic Activity
  8. Integration von Nachhaltigkeit in das Controlling
  9. Implementation of a balanced scorecard for hybrid business models
  10. The Managerial Relevance of Marketing Science: Properties and Genesis
  11. Demarcating transdisciplinary research in sustainability science—Five clusters of research modes based on evidence from 59 research projects
  12. Advancing understanding of natural resource governance
  13. Mechanisms of teleological change
  14. Leverage points for addressing marine and coastal pollution
  15. The global context and people at work: Special issue introduction
  16. Human-Value-Oriented Digital Social Innovation: A Multilevel Design Framework
  17. Systematic distributions of interaction strengths across tree interaction networks yield positive diversity–productivity relationships
  18. Impact of different methods of heathland management on the nutrient balance and vegetation dynamics
  19. Skill learning as a concept in life-span developmental psychology
  20. Hydrological tracers for assessing transport and dissipation processes of pesticides in a model constructed wetland system
  21. Entrepreneurial actions
  22. Managing Knowledge in Organization Studies Through Instrumentation
  23. Real fake? Appropriating mobility via Schengen visa in the context of biometric border controls
  24. Influence of Effective Two- and Three-Particle Interactions on Atomic Fine Structure in Mixed Configurations (5d +6s)N
  25. Theorising the dynamics of collaborative consumption practices
  26. How to Explain Major Policy Change Towards Sustainability? Bringing Together the Multiple Streams Framework and the Multilevel Perspective on Socio-Technical Transitions to Explore the German “Energiewende”
  27. Reading instruction in 5th grade: teachers’ perspectives on promoting self-regulated reading in language and content area teaching
  28. The Impact of Scale on Children’s Spatial Thought
  29. Urgent need for updating the slogan of global climate actions from 'tree planting' to 'restore native vegetation'
  30. Conjectural variations equilibrium in a mixed duopoly
  31. Improved mechanical properties of cast Mg alloy welds via texture weakening by differential rotation refill friction stir spot welding