This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating link- ages, interacting with a reference member of the mechanism (the \object") by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.
Prattichizzo, D., P., M. (1999). Geometric control tools for robotic manipulators. In Proc. EUCA European Conference on Control.
Geometric control tools for robotic manipulators
PRATTICHIZZO, DOMENICO;
1999-01-01
Abstract
This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating link- ages, interacting with a reference member of the mechanism (the \object") by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/33793
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