On the Decoupling and Output Functional Controllability of Robotic Manipulation
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
The problem of force/motion control in robotic manipulation is studied. A noninteracting control law of grasping contact forces and object motions is proposed. In order to achieve force/motion trajectory tracking without transient errors, the output functional controllability of the controlled output is investigated. The framework throughout is the geometric approach to the multivariable systems. Numerical examples are provided to show the effectiveness of the proposed control law.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97 |
| Editors | Michel Guglielmi |
| Number of pages | 6 |
| Publisher | Pergamom Pr |
| Publication date | 01.09.1997 |
| Pages | 289-294 |
| ISBN (print) | 9780080430263 |
| DOIs | |
| Publication status | Published - 01.09.1997 |
| Externally published | Yes |
| Event | 5th International Federation of Automatic Control Symposium on Robot Control - 1997 - Nantes, France Duration: 03.09.1997 → 05.09.1997 Conference number: 5 https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&cad=rja&uact=8&ved=2ahUKEwiXypq3qazrAhXRjqQKHaQbDu0QFjAEegQIBRAB&url=https%3A%2F%2Fwww.ifac-control.org%2Fpublications%2F1989-1997%2F1997_6%2Fat_download%2Ffile&usg=AOvVaw1c28K-O6VivGXtLLQ1kzH7 |
- Engineering - manipulators, geometric approach, noninteraction, output functional, controllability