| Title:
|
A geometric procedure for robust decoupling control of contact forces in robotic manipulation (English) |
| Author:
|
Mercorelli, Paolo |
| Author:
|
Prattichizzo, Domenico |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
39 |
| Issue:
|
4 |
| Year:
|
2003 |
| Pages:
|
[433]-445 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics. (English) |
| Keyword:
|
geometric approach |
| Keyword:
|
robustness |
| Keyword:
|
manipulators |
| Keyword:
|
elastic contacts |
| MSC:
|
14L24 |
| MSC:
|
19L64 |
| MSC:
|
70E60 |
| MSC:
|
70Q05 |
| MSC:
|
93B27 |
| MSC:
|
93C85 |
| MSC:
|
93D09 |
| idZBL:
|
Zbl 1249.93046 |
| idMR:
|
MR2024524 |
| . |
| Date available:
|
2009-09-24T19:55:27Z |
| Last updated:
|
2015-03-24 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/135544 |
| . |
| Reference:
|
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| Reference:
|
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| Reference:
|
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| Reference:
|
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| Reference:
|
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| Reference:
|
[6] Prattichizzo A. Bicchi D., Mercorelli, P., Vicino A.: Noninteracting force/motion control in general manipulation systems.In: Proc. 35th IEEE Conference on Decision Control, CDC’96, Kobe 1996 |
| Reference:
|
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| Reference:
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| Reference:
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| Reference:
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[10] Barbagli F., Marro G., Mercorelli, P., Prattichizzo D.: Some results on output algebraic feedback with applications to mechanical systems.In: Proc. 37th IEEE Conference on Decision Control, CDC’98, Tampa 1998 |
| Reference:
|
[11] Prattichizzo D.: Structural Properties and Control of Robotics Manipulation.Ph.D. Thesis, University of Pisa, 1995 |
| Reference:
|
[12] Prattichizzo D., Bicchi A.: Dynamic analysis of mobility and graspability of general manipulation systems.Trans. Robotic and Automation 14 (1998), 2, 251–218 |
| Reference:
|
[13] Prattichizzo D., Mercorelli P.: On some geometric control properties of active suspension systems.Kybernetika 36 (2000), 5, 549–570 MR 1882794 |
| . |
