Robust decoupling through algebraic output feedback in manipulation systems

Paolo Mercorelli

Kybernetika (2010)

  • Volume: 46, Issue: 5, page 850-869
  • ISSN: 0023-5954

Abstract

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This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.

How to cite

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Mercorelli, Paolo. "Robust decoupling through algebraic output feedback in manipulation systems." Kybernetika 46.5 (2010): 850-869. <http://eudml.org/doc/196468>.

@article{Mercorelli2010,
abstract = {This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.},
author = {Mercorelli, Paolo},
journal = {Kybernetika},
keywords = {geometric approach; manipulators; force/motion control; geometric approach; manipulators; force/motion control},
language = {eng},
number = {5},
pages = {850-869},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Robust decoupling through algebraic output feedback in manipulation systems},
url = {http://eudml.org/doc/196468},
volume = {46},
year = {2010},
}

TY - JOUR
AU - Mercorelli, Paolo
TI - Robust decoupling through algebraic output feedback in manipulation systems
JO - Kybernetika
PY - 2010
PB - Institute of Information Theory and Automation AS CR
VL - 46
IS - 5
SP - 850
EP - 869
AB - This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.
LA - eng
KW - geometric approach; manipulators; force/motion control; geometric approach; manipulators; force/motion control
UR - http://eudml.org/doc/196468
ER -

References

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  15. Prattichizzo, D., Mercorelli, P., Motion-decoupled internal force control in grasping with visco-elastic contacts, In: Proc. IEEE Conf. in Robotic and Automation, ICRA 2000, San Francisco 2000. (2000) 
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