Internal forces in robotic manipulation and in general mechanisms using a geometric approach
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In: International Journal of Pure and Applied Mathematics, Vol. 79, No. 2, 2012, p. 293-301.
Research output: Journal contributions › Journal articles › Research › peer-review
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TY - JOUR
T1 - Internal forces in robotic manipulation and in general mechanisms using a geometric approach
AU - Mercorelli, Paolo
N1 - Copyright 2012 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - Robotic devices with high performance in precision and speed are required in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment. This paper presents some constructive geometric structures which can be used to design force controllers for robotic manipulators and general mechanisms. The approach is based on the well-known geometric control of system dynamics. In such a framework which uses elements of the invariant subspace theory, 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 of the paper consists of proposing an explicit new subspace structure for grasping internal forces in robotic manipulations and general mechanisms.
AB - Robotic devices with high performance in precision and speed are required in many industrial sectors and even in applications such as medical ones (micro manipulation of internal tissues or laparoscopy) or in entertainment. This paper presents some constructive geometric structures which can be used to design force controllers for robotic manipulators and general mechanisms. The approach is based on the well-known geometric control of system dynamics. In such a framework which uses elements of the invariant subspace theory, 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 of the paper consists of proposing an explicit new subspace structure for grasping internal forces in robotic manipulations and general mechanisms.
KW - Engineering
KW - Internal forces
KW - Manipulators
KW - Matrices
KW - Subspaces
UR - http://www.scopus.com/inward/record.url?scp=84866550530&partnerID=8YFLogxK
UR - http://ijpam.eu/contents/2012-79-2/index.html
M3 - Journal articles
AN - SCOPUS:84866550530
VL - 79
SP - 293
EP - 301
JO - International Journal of Pure and Applied Mathematics
JF - International Journal of Pure and Applied Mathematics
SN - 1311-8080
IS - 2
ER -