• DocumentCode
    1618672
  • Title

    Controllability of whole-arm manipulation

  • Author

    Bicchi, Antonio ; Prattichizzo, Domenico

  • Author_Institution
    Dipartimento di Sistemi Elettrici ed Automzione, Pisa Univ., Italy
  • Volume
    1
  • fYear
    1994
  • Firstpage
    373
  • Abstract
    Whole-arm manipulators systems (WAMs), i.e. robotic devices that use not only their extremities but rather any of their links to manipulate objects, are robust and have a wide range of applicability. The analysis and control of such systems pose problems not common to traditional robotics. In this paper, we consider a peculiar loss of a controllability property that deep affects operation of WAMs
  • Keywords
    controllability; manipulators; robust control; controllability; robustness; whole-arm manipulator systems; Controllability; Damping; Equations; Extremities; Gravity; Jacobian matrices; Lagrangian functions; Robots; Shock absorbers; Springs;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
  • Conference_Location
    Lake Buena Vista, FL
  • Print_ISBN
    0-7803-1968-0
  • Type

    conf

  • DOI
    10.1109/CDC.1994.410900
  • Filename
    410900
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1618672