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 condition's 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. ; 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 condition's 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.
A geometric procedure for robust decoupling control of contact forces in robotic manipulation
2003-01-01
Mercorelli , P & Prattichizzo , D 2003 , ' A geometric procedure for robust decoupling control of contact forces in robotic manipulation ' , Kybernetika , vol. 39 , no. 4 , pp. 433-445 . < http://www.kybernetika.cz/content/2003/4/433 >
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Internal forces in robotic manipulation and in general mechanisms using a geometric approach
BASE | 2012
|Robust decoupling through algebraic output feedback in manipulation systems
BASE | 2010
|Robust-Decoupling Design for Rotorcraft Flight Control
British Library Conference Proceedings | 1993
|