Title :
Controllability of whole-arm manipulation
Author :
Bicchi, Antonio ; Prattichizzo, Domenico
Author_Institution :
Dipartimento di Sistemi Elettrici ed Automzione, Pisa Univ., Italy
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;
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
DOI :
10.1109/CDC.1994.410900
