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)

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, In: Mathematics and Computers in Simulation. 228, p. 178-201 24 p.

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

Advanced ice-clamping control in the context of Industry 4.0

Mironova, A., Mercorelli, P. & Zedler, A., 01.01.2024, Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Mercorelli, P., Zhang, W., Nemati, H. & Zhang, Y. (eds.). Academic Press Inc., p. 19-40 22 p.

Research output: Contributions to collected editions/works › Chapter › peer-review

Advanced Neural Classifier-Based Effective Human Assistance Robots Using Comparable Interactive Input Assessment Technique

Albekairi, M., Kaaniche, K., Abbas, G., Mercorelli, P., Alanazi, M. D. & Almadhor, A., 13.08.2024, In: Mathematics. 12, 16, 21 p., 2500.

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

A Study on the Performance of Adaptive Neural Networks for Haze Reduction with a Focus on Precision

Alshahir, A., Kaaniche, K., Abbas, G., Mercorelli, P., Albekairi, M. & Alanazi, M. D., 15.08.2024, In: Mathematics. 12, 16, 25 p., 2526.

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

Automation in Clinical Laboratories: A Comprehensive Bibliography Review

Fernandes, F. M., dos Santos, M. F. & Mercorelli, P., 22.05.2024, Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024. Kot, A. (ed.). Institute of Electrical and Electronics Engineers Inc., 6 p. (Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024).

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

DOI