The control of robotic manipulation is investigated. Manipulation systemanalysis and control are approached in a general framework. The geometric aspectof manipulation system dynamics is strongly emphasized by using the well developedtechniques of geometric multivariable control theory. The focus is on the control ofthe crucial outputs in robotic manipulation, namely the reachable internal forces andthe rigid{body object motions. A state{feedback control procedure is outlined fordecoupling these outputs and nally special attention is devoted to the synthesis ofthe state observer.
Prattichizzo, D., P., M., A., B., Vicino, A. (1997). Geometric control techniques for manipulation systems. In Control of industrial systems (pp.1599-1604). Elsevier, New York.
Geometric control techniques for manipulation systems
PRATTICHIZZO, DOMENICO;VICINO, ANTONIO
1997-01-01
Abstract
The control of robotic manipulation is investigated. Manipulation systemanalysis and control are approached in a general framework. The geometric aspectof manipulation system dynamics is strongly emphasized by using the well developedtechniques of geometric multivariable control theory. The focus is on the control ofthe crucial outputs in robotic manipulation, namely the reachable internal forces andthe rigid{body object motions. A state{feedback control procedure is outlined fordecoupling these outputs and nally special attention is devoted to the synthesis ofthe state observer.
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https://hdl.handle.net/11365/33816
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