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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

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A Fluid Elastomeric Actuator Design for Soft Robots

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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.

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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

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