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 frame-work throughout is the geometric approach to the multivariable systems. Numerical examples are provided to show the eectiveness of the proposed control law.
Prattichizzo, D., P., M., A., B., Vicino, A. (1997). On the Decoupling and Output Functional Controllability of Robotic Manipulation. In Robot Control -IFAC Symposium (pp.289-294). Oxford; Pergamon for the International Federation of Automatic Control.
On the Decoupling and Output Functional Controllability of Robotic Manipulation
PRATTICHIZZO, DOMENICO;VICINO, ANTONIO
1997-01-01
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 frame-work throughout is the geometric approach to the multivariable systems. Numerical examples are provided to show the eectiveness of the proposed control law.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/20164
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo