TY - JOUR

T1 - Robust decoupling through algebraic output feedback in manipulation systems

AU - Mercorelli, Paolo

N1 - Export Date: 22 May 2012 Source: Scopus Language of Original Document: English Correspondence Address: Mercorelli, P.; Ostfalia University of Applied Sciences, Faculty of Automotive Engineering, Robert Koch Platz 12, D-38440 Wolfsburg, Germany; email: p.mercorelli@ostfalia.de References: Basile, G., Marro, G., (1992) Controlled and Conditioned Invariants in Linear System Theory, , Prentice Hall, New Jersey; Bhattacharyya, S.P., Generalized controllability, controlled invariant subspace and parameter invariant control (1983) SIAM J. Algebraic Discrete Methods, 4 (4), pp. 529-533; Bicchi, A., Melchiorri, C., Balluchi, D., On the mobility and manipulability of general multiple limb robots (1995) IEEE Trans. Automat. Control, 11 (2), pp. 215-228; Bicchi, A., Prattichizzo, D., Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms (2000) IEEE Trans. Robotics and Automation, 16 (4), pp. 336-345; Bicchi, A., Prattichizzo, D., Mercorelli, P., Vicino, A., Noninteracting force/motion control in general manipulation systems (1996) Proc. 35th IEEE Conf. on Decision Control, , CDC '96, Kobe; Isidori, A., (1989) Nonlinear Control Systems: An Introduction, , Springler-Verlag, Berlin; Marro, G., Barbagli, F., The algebraic output feedback in the light of dual lattice structures (1999) Kybernetika, 35 (6), pp. 693-706; Mason, M.T., Salisbury, J.K., (1985) Robot Hands and the Mechanics of Manipulation, , The MIT Press, Cambridge; Meirovitch, L., (1967) Analytical Methods in Vibrations, , Macmillan Pub. Co., Inc., New York; Mercorelli, P., A subspace to describe grasping internal forces in robotic manipulation systems (2007) J. Math. Control Sci. Appl., 1 (1), pp. 209-216; Mercorelli, P., Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms (2010) Internat. J. Pure Appl. Math., 59 (3), pp. 257-273; Mercorelli, P., Prattichizzo, D., A geometric procedure for robust decoupling control of contact forces in robotic manipulation (2003) Kybernetika, 39 (4), pp. 433-445; Prattichizzo, D., Bicchi, A., Consistent task specification for manipulation systems with general kinematics (1997) Amer. Soc. Mech. Engrg., 119, pp. 760-767; Prattichizzo, D., Bicchi, A., Dynamic analysis of mobility and graspability of general manipulation systems (1998) Trans. Robotic Automat., 14 (2), pp. 251-1218; Prattichizzo, D., Mercorelli, P., Motion-decoupled internal force control in grasping with visco-elastic contacts (2000) Proc. IEEE Conf. in Robotic and Automation, ICRA 2000, , San Francisco; Prattichizzo, D., Mercorelli, P., On some geometric control properties of active suspensions systems (2000) Kybernetika, 36 (5), pp. 549-570; Wonham, W.M., (1979) Linear Multivariable Control: A Geometric Approach, , Springer Verlag, New York; Yamamoto, Y., Yun, X., Effect of the dynamic interaction on coordinated control of mobile manipulators (1996) IEEE Trans. Robotics Automat, 12 (5), pp. 816-824

PY - 2010

Y1 - 2010

N2 - This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the "object") by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.

AB - This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the "object") by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.

KW - Engineering

KW - Geometric Approach

KW - manipulators

KW - force/motion control

UR - http://www.kybernetika.cz/content/2010/5/850

M3 - Journal articles

VL - 46

SP - 850

EP - 869

JO - Kybernetika

JF - Kybernetika

SN - 0023-5954

IS - 5

ER -