1. //
  2. Start
  3. //
  4. Publications
  5. //
  6. On the Decoupling and Output Functional ...
  7. //

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 languageEnglish
Title of host publicationProceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97
EditorsMichel Guglielmi
Number of pages6
PublisherPergamom Pr
Publication date01.09.1997
Pages289-294
ISBN (print)9780080430263
DOIs
Publication statusPublished - 01.09.1997
Externally publishedYes
Event5th 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

    Research areas

  • Engineering - manipulators, geometric approach, noninteraction, output functional, controllability

Other publications by the same author(s)

Advancing Sustainability and Productivity: The Role of Precision Agriculture in Vineyards and Olive Groves

Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference (ICCC): Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

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

An innovative efficiency of incubator to enhance organization supportive business using machine learning approach

Li, X., Zhang, Q., Gu, H., Othmen, S., Asklany, S., Lhioui, C., Elrashidi, A. & Mercorelli, P., 07.2025, In: PLoS ONE. 20, 7, 22 p., e0327249.

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

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

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

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, In: IEEE Open Journal of Power Electronics. 6, p. 734-746 13 p.

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

Business Analytics and Making Decision Based on Kalman Filter in Stock Prediction Case

Kurniawan, S. & Mercorelli, P., 27.05.2025, 5th Congress on Intelligent Systems, CIS 2024: Volume 1. Kumar, S., Mary Anita, E. A., Kim, J. H. & Nagar, A. (eds.). Springer Science and Business Media Deutschland, p. 309-320 12 p. (Lecture Notes in Networks and Systems; vol. 1275).

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

DOI

Recently viewed

Activities

  1. Design of controllers applied to autonomous unmanned aerial vehicles using software in the loop
  2. Sino-German Summer School on Design and data analysis of biodiversity-ecosystem functioning experiments 2011
  3. „Regional Conflicts & Contested Spatial Identities in the Digital Sphere”
  4. Detection time analysis of propulsion system fault effects in a hexacopter
  5. International Conference of Computational Methods in Engineering Science - Chair of Session III
  6. Structured Prediction in Social Contexts
  7. Plenary Speaker at the 2022 5th IEEE International Conference on Information Communication and Signal Processing (ICICSP 2022). Plenary entitled "Soft Optimal Computing Techniques to Identify and Control Surface Roughness in Manufacturing".
  8. Types of institutional proxy representatives for future generations in democracies: A comparative empirical analysis
  9. Self-tuning of a kalman filter applied in a DC drive and in a kalman-based sensor
  10. Required Task Interdependence - Daily Hassle or Uplift?
  11. Optimal scheduling for Automated Guided Vehicles (AGV) in blocking job-shops
  12. MDPI AG (Verlag)
  13. 13th CIRP Conference on INTELLIGENT COMPUTATION IN MANUFACTURING ENGINEERING - CIRP ICME ’19
  14. Dominicus Noll
  15. Can we represent future generations in myopic democracies? – A comparative empirical analysis of the design, feasibility and viability of institutional guardians of future generations
  16. The Imaginary Dimension of Fragile Statehood: Syria and the Struggle for the "Rightful" Polity
  17. Universität Oxford
  18. Masterprogramme (Organisation)
  19. Environmental Sustainability and Supply Chain Management: A Framework of Cross-Functional Integration and Knowledge Transfer

Publications

  1. Promising practices for dealing with complexity in research for development
  2. A new way of assessing the interaction of a metallic phase precursor with a modified oxide support substrate as a source of information for predicting metal dispersion
  3. Advances in Dynamics, Optimization and Computation
  4. Mostly harmless econometrics? Statistical paradigms in the ‘top five’ from 2000 to 2018
  5. Guest Editors' Introduction
  6. Combining fusion-based and solid-state additive manufacturing
  7. When it really counts
  8. Bed-Sharing in Couples Is Associated With Increased and Stabilized REM Sleep and Sleep-Stage Synchronization
  9. Wozu in Tönen denken?
  10. An optimal minimum phase approximating PD regulator for robust control of a throttle plate
  11. Frame Diffusion
  12. If you call for frameworks in sustainability management... editorial to the special issue
  13. Learning Online: A Comparison of Different Media Types
  14. Dealing with inclusion–teachers’ assessment of internal and external resources
  15. Learning Analytics and Personalized Learning
  16. Continental mapping of forest ecosystem functions reveals a high but unrealised potential for forest multifunctionality.
  17. Along the Path of the Pine, the Parrot, and the Tortoise
  18. Erratum zu
  19. Analysis of the forming behaviour of in-situ drawn sandwich sheets
  20. Beyond academic discourse
  21. Rapid ecosystem change challenges the adaptive capacity of local environmental knowledge
  22. The use of pseudo-causal narratives in EU policies
  23. Exercise program for riders