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

Standard

On the Decoupling and Output Functional Controllability of Robotic Manipulation. / Prattichizzo, Domenico; Mercorelli, Paolo; Bicchi, Antonio et al.
Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97. ed. / Michel Guglielmi. Pergamom Pr, 1997. p. 289-294 (IFAC Proceedings; Vol. 30, No. 20).

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

Harvard

Prattichizzo, D, Mercorelli, P, Bicchi, A & Vicino, A 1997, On the Decoupling and Output Functional Controllability of Robotic Manipulation. in M Guglielmi (ed.), Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97. IFAC Proceedings, no. 20, vol. 30, Pergamom Pr, pp. 289-294, 5th International Federation of Automatic Control Symposium on Robot Control - 1997 , Nantes, France, 03.09.97. https://doi.org/10.1016/S1474-6670(17)44278-9

APA

Prattichizzo, D., Mercorelli, P., Bicchi, A., & Vicino, A. (1997). On the Decoupling and Output Functional Controllability of Robotic Manipulation. In M. Guglielmi (Ed.), Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97 (pp. 289-294). (IFAC Proceedings; Vol. 30, No. 20). Pergamom Pr. https://doi.org/10.1016/S1474-6670(17)44278-9

Vancouver

Prattichizzo D, Mercorelli P, Bicchi A, Vicino A. On the Decoupling and Output Functional Controllability of Robotic Manipulation. In Guglielmi M, editor, Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97. Pergamom Pr. 1997. p. 289-294. (IFAC Proceedings; 20). doi: 10.1016/S1474-6670(17)44278-9

Bibtex

@inbook{9feb81ba11d849f4bcec6c115469d917,
title = "On the Decoupling and Output Functional Controllability of Robotic Manipulation",
abstract = "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.",
keywords = "Engineering, manipulators, geometric approach, noninteraction, output functional, controllability",
author = "Domenico Prattichizzo and Paolo Mercorelli and Antonio Bicchi and Antonio Vicino",
year = "1997",
month = sep,
day = "1",
doi = "10.1016/S1474-6670(17)44278-9",
language = "English",
isbn = "9780080430263",
series = "IFAC Proceedings",
publisher = "Pergamom Pr",
number = "20",
pages = "289--294",
editor = "Michel Guglielmi",
booktitle = "Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97",
address = "United States",
note = "5th International Federation of Automatic Control Symposium on Robot Control - 1997 , SYROCO'97 ; Conference date: 03-09-1997 Through 05-09-1997",
url = "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",

}

RIS

TY - CHAP

T1 - On the Decoupling and Output Functional Controllability of Robotic Manipulation

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

AU - Bicchi, Antonio

AU - Vicino, Antonio

N1 - Conference code: 5

PY - 1997/9/1

Y1 - 1997/9/1

N2 - 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.

AB - 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.

KW - Engineering

KW - manipulators

KW - geometric approach

KW - noninteraction

KW - output functional

KW - controllability

U2 - 10.1016/S1474-6670(17)44278-9

DO - 10.1016/S1474-6670(17)44278-9

M3 - Article in conference proceedings

SN - 9780080430263

T3 - IFAC Proceedings

SP - 289

EP - 294

BT - Proceedings of the IFAC International Symposium on Robot Control'97, SYROCO'97

A2 - Guglielmi, Michel

PB - Pergamom Pr

T2 - 5th International Federation of Automatic Control Symposium on Robot Control - 1997

Y2 - 3 September 1997 through 5 September 1997

ER -

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 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 › Contributions to collected editions/anthologies › 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

Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Libório, L. O., Pimentel, G. O., Dos Santos, M. F., Fernandes, F. M., Lima, J., De Morais, M. H. F., Mercorelli, P. & Pereira, A. I., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Institute of Electrical and Electronics Engineers Inc., (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).

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

DOI

Recently viewed

Activities

  1. An Optimal and Stabilising PI Controller with an Anti-windup Scheme for a Purification Process of Potable Water
  2. Probabilistic and discrete methods for studying coherent behavior in flows
  3. MDPI AG (Verlag)
  4. diffractions and the (un-)making of difference - 2020
  5. Navigating in the Digital Jungle: Articulating Combinatory Affordances of Digital Infrastructures for Collaboration
  6. The importance of scales for legitimate and effective participatory environmental governance. Findings from a multi-level comparative case study of implementing the Water Framework Directive (with D. Schulz)
  7. Mutual Learning and Knowledge Integration in Transdisciplinary Development Teams: Empirical Findings about a Collaborative Format in Teacher Education
  8. On the perception and effectiveness of the feedback quality from a digital learning platform

Publications

  1. Classical PI Controllers with Anti-Windup Techniques Applied on Level Systems
  2. Modeling and numerical simulation of multiscale behavior in polycrystals via extended crystal plasticity
  3. Simple saturated PID control for fast transient of motion systems
  4. Dynamic priority based dispatching of AGVs in flexible job shops
  5. Competing Vegetation Structure Indices for Estimating Spatial Constrains in Carabid Abundance Patterns in Chinese Grasslands Reveal Complex Scale and Habitat Patterns
  6. Cognitive load and instructionally supported learning with provided and learner-generated visualizations
  7. Guided discovery learning with computer-based simulation games
  8. Probabilistic approach to modelling of recession curves
  9. Optimising business performance with standard software systems
  10. Transfer operator-based extraction of coherent features on surfaces
  11. On the Difficulty of Forgetting
  12. An experience-based learning framework
  13. Should learners use their hands for learning? Results from an eye-tracking study
  14. Soft Skills for Hard Constraints
  15. Parameterized Synthetic Image Data Set for Fisheye Lens
  16. Integrating the underlying structure of stochasticity into community ecology
  17. A Framework for Applying Natural Language Processing in Digital Health Interventions
  18. How does Enterprise Architecture support the Design and Realization of Data-Driven Business Models?
  19. Mining Implications From Data
  20. Scheme and Technical Issues in Water Quality Control
  21. There is no Software, there are just Services: Introduction
  22. Internet and computer based interventions for cannabis use
  23. Development of a scoring parameter to characterize data quality of centroids in high-resolution mass spectra
  24. Topic selection and development in learner-native speaker voice-based telecollaborative discourse
  25. Conjunctive cohesion in English language EU documents - A corpus-based analysis and its implications
  26. E-stability and stability of adaptive learning in models with private information
  27. Restoring Causal Analysis to Structural Equation ModelingReview of Causality: Models, Reasoning, and Inference (2nd Edition), by Judea Pearl
  28. A Study on the Performance of Adaptive Neural Networks for Haze Reduction with a Focus on Precision
  29. Student Behavior in Error-Correction-Tasks and its Relation to Perception of Competence
  30. Effects of diversity versus segregation on automatic approach and avoidance behavior towards own and other ethnic groups
  31. DISKNET – A Platform for the Systematic Accumulation of Knowledge in IS Research
  32. IT Governance in Scaling Agile Frameworks
  33. Different facets of tree sapling diversity influence browsing intensity by deer dependent on spatial scale
  34. Challenge-oriented policy making and innovation systems theory: reconsidering systemic instruments
  35. Differentiating forest types using TerraSAR–X spotlight images based on inferential statistics and multivariate analysis
  36. Understanding the error-structure of Time-driven Activity-based Costing
  37. Integration of laboratory experiments into introductory electrical engineering courses
  38. Hill–Chao numbers allow decomposing gamma multifunctionality into alpha and beta components