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

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

2810

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525681

Filename

525681