Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation

Research output: Journal contributionsJournal articlesResearchpeer-review

Authors

This paper presents a parametrization of a feed-forward control based on structures of subspaces for a non-interacting regulation. With advances in technological development, robotics is increasingly being used in many industrial sectors, including medical applications (e. g., micromanipulation of internal tissues or laparoscopy). Typical problems in robotics and general mechanisms may be mathematically formalized and analyzed, resulting in outcomes so general that it is possible to speak of structural properties in robotic manipulation and mechanisms. This work shows an explicit formula for the reachable internal contact forces of a general manipulation system. The main contribution of the paper consists of investigating the design of a feed-forward force-motion control which, together with a feedback structure, realizes a decoupling force-motion control. A generalized linear model is used to perform a careful analysis, resulting in the proposed general geometric structure for the study of mechanisms. In particular, a lemma and a theorem are presented which offer a parametrization of a feed-forward control for a task-oriented choice of input subspaces. The existence of these input subspaces is a necessary condition for the structural non-interaction property. A simulation example in which the subspaces and the control structure are explicitly calculated is shown and widely explicated.
Original languageEnglish
JournalKybernetika
Volume48
Issue number6
Pages (from-to)1229-1249
Number of pages21
ISSN0023-5954
Publication statusPublished - 01.01.2012

Recently viewed

Publications

  1. Advances in Dynamics, Optimization and Computation
  2. Tree diversity and mycorrhizal type co-determine multitrophic ecosystem functions
  3. "Die Arbeit funktioniert"
  4. Leverage points 2019
  5. "Introduction," communication +1
  6. Beyond academic discourse
  7. The use of pseudo-causal narratives in EU policies
  8. Diversity Management and Corporate Change: Implications for Co-Determination
  9. An Extended Kalman Filter as an Observer in a Sliding Mode Controller for a Metal-Polymer Composite Actuator
  10. Computational Study of Three-Dimensional Lagrangian Transport and Mixing in a Stirred Tank Reactor  
  11. Testing Lazear's Jack-of-all-trades
  12. How to Predict Mood?
  13. The importance of school leaders in school health promotion. A European call for systematic integration of health in professional development
  14. Qu'est-ce que la "stakeholder value"?
  15. Credit Constraints, Foreign Ownership, and Foreign Takeovers in Germany
  16. From deforestation to blossom
  17. How to Curate Diversity and Otherness in Global Performance Art
  18. Communicative intentions in context
  19. Modelling ammonia losses after field application of biogas slurry in energy crop rotations
  20. Von Differenz zu Vielfalt zu Super-Diversity
  21. Anti-Fascist Exile, Political Print Media, and the Variable Tactics of the Communists in Mexico (1939–1946)
  22. Can learning to move foster sustainable development? A systematic literature review examining the potential of sport and physical activity in the context of environmental and sustainability education
  23. Exploring Traps in Forest and Marine Socio-Ecological Systems of Southern and Austral Chile
  24. Inquiry-based Science Education and Special Needs – Teachers’ Reflections on an Inclusive Setting
  25. Explaining renewable energy consumption among students
  26. The adaptive eater
  27. Simulation of the fate of Boscalid and its transformation product 4-Chlorobenzoic acid in a vineyard-terraces catchment
  28. § 15 Verbundene Unternehmen
  29. Evaluating the German version of the Work Ability Survey-R (WAS-R)