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This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified.

Prattichizzo, D., Mercorelli, P., Bicchi, A., Vicino, A. (1996). Noninteracting force/motion control of defective manipulation systems. In Proceedings of the 35th IEEE Int. Conference on Decision and Control (pp.1952-1957). New York : IEEE [10.1109/CDC.1996.572865].

Noninteracting force/motion control of defective manipulation systems

Prattichizzo, D.;Vicino, A.
1996-01-01

Abstract

This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified.
1996
0780335902
Prattichizzo, D., Mercorelli, P., Bicchi, A., Vicino, A. (1996). Noninteracting force/motion control of defective manipulation systems. In Proceedings of the 35th IEEE Int. Conference on Decision and Control (pp.1952-1957). New York : IEEE [10.1109/CDC.1996.572865].
4.1 Contributo in Atti di convegno
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/29683