DocumentCode
306695
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
Volume
2
fYear
1996
fDate
11-13 Dec 1996
Firstpage
1952
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.572865
Filename
572865
Link To Document