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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 languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
EditorsAnon
Number of pages6
Volume2
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date1996
Pages1952-1957
ISBN (print)0-7803-3590-2
DOIs
Publication statusPublished - 1996
Externally publishedYes
Event35th 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

    Research areas

  • Engineering - Equations of motion, Force control, Kinematics, Mathematical models, Motion control, Redundancy, Structural noninteraction property, Manipulators

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