Robust Decoupling Control of Contact Forces in Robotic Manipulation

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Authors

This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. Robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.
Original languageEnglish
Title of host publicationProceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97
EditorsCsilla Bányász
Number of pages6
Volume30
PublisherPergamon Press
Publication date01.06.1997
Pages79-84
ISBN (print)0080426069, 978-0080426068
DOIs
Publication statusPublished - 01.06.1997
Externally publishedYes
Event2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997 - Budapest, Hungary
Duration: 25.06.199727.06.1997
Conference number: 2
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