Title :
Noninteracting force/motion control of defective manipulation systems
Author :
Prattichizzo, D. ; Mercorelli, P. ; Bicchi, A. ; Vicino, A.
Author_Institution :
Dipartimento di Sistemi Elettrici e Automazione, Pisa Univ., Italy
Abstract :
This paper deals with the problem of noninteracting force/motion control for manipulation systems with possible kinematic defectivity. A geometric approach is adopted in the paper. The main result of the paper shows that a suitable choice of the outputs exists, for which a structural noninteraction property holds, and such that most practical manipulation tasks can be naturally specified
Keywords :
control system analysis; force control; linearisation techniques; manipulator dynamics; manipulator kinematics; motion control; defective manipulation systems; dynamics; kinematics; linearization; manipulators; noninteracting force control; noninteracting motion control; Fingers; Force control; Manipulator dynamics; Mechanical factors; Motion control; Nonlinear dynamical systems; Parallel robots; Robot kinematics; Surgery; Torque;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572865
