Robust Decoupling Control of Contact Forces in Robotic Manipulation
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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 language | English |
|---|---|
| Title of host publication | Proceedings of the 2nd IFAC International Symposium on Robust Control Design, ROCOND'97 |
| Editors | Csilla Bányász |
| Number of pages | 6 |
| Volume | 30 |
| Publisher | Pergamon Press |
| Publication date | 01.06.1997 |
| Pages | 79-84 |
| ISBN (Print) | 0080426069, 978-0080426068 |
| DOIs | |
| Publication status | Published - 01.06.1997 |
| Externally published | Yes |
| Event | 2nd International Federation of Automatic Control International Symposium on Robust Control Design - 1997 - Budapest, Hungary Duration: 25.06.1997 → 27.06.1997 Conference number: 2 https://www.ifac-control.org/about/symposia-conferences-and-workshops |
- Engineering