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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

Standard

Noninteracting force/motion control of defective manipulation systems. / Prattichizzo, D.; Mercorelli, P.; Bicchi, Antonio et al.
Proceedings of the IEEE Conference on Decision and Control. ed. / Anon. Vol. 2 IEEE - Institute of Electrical and Electronics Engineers Inc., 1996. p. 1952-1957 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Prattichizzo, D, Mercorelli, P, Bicchi, A & Vicino, A 1996, Noninteracting force/motion control of defective manipulation systems. in Anon (ed.), Proceedings of the IEEE Conference on Decision and Control. vol. 2, Proceedings of the IEEE Conference on Decision and Control, vol. 2, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1952-1957, 35th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1996, Kobe, Japan, 13.12.96. https://doi.org/10.1109/CDC.1996.572865

APA

Prattichizzo, D., Mercorelli, P., Bicchi, A., & Vicino, A. (1996). Noninteracting force/motion control of defective manipulation systems. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1952-1957). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.1996.572865

Vancouver

Prattichizzo D, Mercorelli P, Bicchi A, Vicino A. Noninteracting force/motion control of defective manipulation systems. In Anon, editor, Proceedings of the IEEE Conference on Decision and Control. Vol. 2. IEEE - Institute of Electrical and Electronics Engineers Inc. 1996. p. 1952-1957. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.1996.572865

Bibtex

@inbook{16d7722cacfd47b9b1bf62237956bd43,
title = "Noninteracting force/motion control of defective manipulation systems",
abstract = "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.",
keywords = "Engineering, Equations of motion, Force control, Kinematics, Mathematical models, Motion control, Redundancy, Structural noninteraction property, Manipulators",
author = "D. Prattichizzo and P. Mercorelli and Antonio Bicchi and A. Vicino",
note = "Conference code: 46157 Cited By (since 1996): 3 Export Date: 22 May 2012 Source: Scopus CODEN: PCDCD Language of Original Document: English Correspondence Address: Prattichizzo, D.; Universita di Pisa, Pisa, Italy Sponsors: IEEE; 35th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1996, CDC 1996 ; Conference date: 13-12-1996 Through 16-12-1996",
year = "1996",
doi = "10.1109/CDC.1996.572865",
language = "English",
isbn = "0-7803-3590-2",
volume = "2",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
pages = "1952--1957",
editor = "Anon",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",
address = "United States",
url = "https://ieeexplore.ieee.org/document/574247/keywords#keywords",

}

RIS

TY - CHAP

T1 - Noninteracting force/motion control of defective manipulation systems

AU - Prattichizzo, D.

AU - Mercorelli, P.

AU - Bicchi, Antonio

AU - Vicino, A.

N1 - Conference code: 35

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

KW - Engineering

KW - Equations of motion

KW - Force control

KW - Kinematics

KW - Mathematical models

KW - Motion control

KW - Redundancy

KW - Structural noninteraction property

KW - Manipulators

UR - http://www.scopus.com/inward/record.url?scp=0030384524&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/e10d22b3-ffa5-3c4e-aeff-35d080b38518/

U2 - 10.1109/CDC.1996.572865

DO - 10.1109/CDC.1996.572865

M3 - Article in conference proceedings

SN - 0-7803-3590-2

VL - 2

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 1952

EP - 1957

BT - Proceedings of the IEEE Conference on Decision and Control

A2 - Anon, null

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 35th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1996

Y2 - 13 December 1996 through 16 December 1996

ER -

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Research output: Journal contributions › Journal articles › Research › peer-review

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Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI