Geometric control tools for robotic manipulators

Author

Prattichizzo, D. ; Mercorelli, P.

Author_Institution

Dipt. di Ing. dell´Inf., Univ. di Siena, Siena, Italy

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

3298

Lastpage

3303

Abstract

This paper investigates the geometric and structural characteristics involved in the control of rather general manipulation systems, consisting of multiple cooperating linkages, interacting with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Object grasp and manipulation by the human hand is taken as a paradigmatic example for this class of manipulators. This paper reports on some recent results on the analysis and control of these mechanisms, based on a geometric analysis of a local approximation of system dynamics. A special attention is devoted to the force control by an algebraic output feedback.

Keywords

dexterous manipulators; feedback; force control; geometry; grippers; mechanical contact; algebraic output feedback; force control; geometric analysis; geometric characteristics; geometric control tools; human hand; object grasping; object manipulation; robotic manipulator system; structural characteristics; Controllability; Dynamics; Force; Jacobian matrices; Manipulator dynamics; Manipulators; decoupling; force/motion control; functional controllability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099836