Noninteracting force/motion control of defective manipulation systems
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Editors | Anon |
| Number of pages | 6 |
| Volume | 2 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 1996 |
| Pages | 1952-1957 |
| ISBN (print) | 0-7803-3590-2 |
| DOIs | |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | 35th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1996 - Kobe, Japan Duration: 13.12.1996 → 16.12.1996 Conference number: 35 https://ieeexplore.ieee.org/document/574247/keywords#keywords |
- Engineering - Equations of motion, Force control, Kinematics, Mathematical models, Motion control, Redundancy, Structural noninteraction property, Manipulators