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. Classical PI Controllers with Anti-Windup Techniques Applied on Level Systems
  2. Lagged Multidimensional Recurrence Quantification Analysis for Determining Leader–Follower Relationships Within Multidimensional Time Series
  3. Effective informational entropy reduction in multi-robot systems based on real-time TVS
  4. Positioning Improvement for a Laser Scanning System using cSORPD control
  5. Improved sensorimotor control is not connected with improved proprioception
  6. Machine Learning and Knowledge Discovery in Databases
  7. Competing Vegetation Structure Indices for Estimating Spatial Constrains in Carabid Abundance Patterns in Chinese Grasslands Reveal Complex Scale and Habitat Patterns
  8. Advances in Dynamics, Optimization and Computation
  9. Does thinking-aloud affect learning, visual information processing and cognitive load when learning with seductive details as expected from self-regulation perspective?
  10. Cognitive load and instructionally supported learning with provided and learner-generated visualizations
  11. Resource extraction technologies - is a more responsible path of development possible?
  12. Using augmented video to test in-car user experiences of context analog HUDs
  13. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  14. How Much Home Office is Ideal? A Multi-Perspective Algorithm
  15. Efficient Order Picking Methods in Robotic Mobile Fulfillment Systems
  16. Guided discovery learning with computer-based simulation games
  17. Probabilistic approach to modelling of recession curves
  18. Eighth Workshop on Mining and Learning with Graphs
  19. Mostly harmless econometrics? Statistical paradigms in the ‘top five’ from 2000 to 2018
  20. Learning and Re-learning from net- based cooperative learning discourses
  21. Using Heider’s Epistemology of Thing and Medium for Unpacking the Conception of Documents: Gantt Charts and Boundary Objects
  22. Topic Embeddings – A New Approach to Classify Very Short Documents Based on Predefined Topics
  23. Transfer operator-based extraction of coherent features on surfaces
  24. Optimising business performance with standard software systems
  25. Reality-Based Tasks with Complex-Situations
  26. On the Difficulty of Forgetting
  27. An experience-based learning framework
  28. Soft Skills for Hard Constraints
  29. Should learners use their hands for learning? Results from an eye-tracking study
  30. Influence of Process Parameters and Die Design on the Microstructure and Texture Development of Direct Extruded Magnesium Flat Products
  31. Introduction Mobile Digital Practices. Situating People, Things, and Data
  32. Integrating the underlying structure of stochasticity into community ecology