Considers the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm limbs, interacting with a manipulated object by means of contacts. A geometric approach to the analysis of the linearized dynamics of such systems is presented, which provides much insight in some of their intrinsic characteristics in the light of classical system-theoretic concepts such as controllability, observability, and canonical forms.

A., B., Prattichizzo, D. (1995). A standard form for the dynamics of general manipulation systems. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.2810-2815). New York : IEEE [10.1109/ROBOT.1995.525681].

A standard form for the dynamics of general manipulation systems

PRATTICHIZZO, DOMENICO
1995-01-01

Abstract

Considers the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm limbs, interacting with a manipulated object by means of contacts. A geometric approach to the analysis of the linearized dynamics of such systems is presented, which provides much insight in some of their intrinsic characteristics in the light of classical system-theoretic concepts such as controllability, observability, and canonical forms.
1995
0780319656
A., B., Prattichizzo, D. (1995). A standard form for the dynamics of general manipulation systems. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.2810-2815). New York : IEEE [10.1109/ROBOT.1995.525681].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/31492