Title :
A standard form for the dynamics of general manipulation systems
Author :
Bicchi, Antonio ; Prattichizzo, Domenico
Author_Institution :
Dipartimento di Sistemi Elettrici ed Autom., Pisa Univ., Italy
Abstract :
Considers the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm limbs, interacting with a manipulated object by means of contacts. A geometric approach to the analysis of the linearized dynamics of such systems is presented, which provides much insight in some of their intrinsic characteristics in the light of classical system-theoretic concepts such as controllability, observability, and canonical forms
Keywords :
controllability; cooperative systems; manipulator dynamics; observability; canonical forms; classical system-theoretic concepts; controllability; dynamics; general manipulation systems; geometric approach; multiple cooperating limbs; observability; robotic manipulation systems; structural properties; whole-arm limbs; Artificial intelligence; Equations; Intelligent robots; Jacobian matrices; Laboratories; Legged locomotion; Manipulator dynamics; Observability; Robot kinematics; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525681
