Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation

Paolo Mercorelli

Kybernetika (2012)

  • Volume: 48, Issue: 6, page 1229-1249
  • ISSN: 0023-5954

Abstract

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This paper presents a parametrization of a feed-forward control based on structures of subspaces for a non-interacting regulation. With advances in technological development, robotics is increasingly being used in many industrial sectors, including medical applications (e. g., micro-manipulation of internal tissues or laparoscopy). Typical problems in robotics and general mechanisms may be mathematically formalized and analyzed, resulting in outcomes so general that it is possible to speak of structural properties in robotic manipulation and mechanisms. This work shows an explicit formula for the reachable internal contact forces of a general manipulation system. The main contribution of the paper consists of investigating the design of a feed-forward force-motion control which, together with a feedback structure, realizes a decoupling force-motion control. A generalized linear model is used to perform a careful analysis, resulting in the proposed general geometric structure for the study of mechanisms. In particular, a lemma and a theorem are presented which offer a parametrization of a feed-forward control for a task-oriented choice of input subspaces. The existence of these input subspaces is a necessary condition for the structural non-interaction property. A simulation example in which the subspaces and the control structure are explicitly calculated is shown and widely explicated.

How to cite

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Mercorelli, Paolo. "Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation." Kybernetika 48.6 (2012): 1229-1249. <http://eudml.org/doc/251352>.

@article{Mercorelli2012,
abstract = {This paper presents a parametrization of a feed-forward control based on structures of subspaces for a non-interacting regulation. With advances in technological development, robotics is increasingly being used in many industrial sectors, including medical applications (e. g., micro-manipulation of internal tissues or laparoscopy). Typical problems in robotics and general mechanisms may be mathematically formalized and analyzed, resulting in outcomes so general that it is possible to speak of structural properties in robotic manipulation and mechanisms. This work shows an explicit formula for the reachable internal contact forces of a general manipulation system. The main contribution of the paper consists of investigating the design of a feed-forward force-motion control which, together with a feedback structure, realizes a decoupling force-motion control. A generalized linear model is used to perform a careful analysis, resulting in the proposed general geometric structure for the study of mechanisms. In particular, a lemma and a theorem are presented which offer a parametrization of a feed-forward control for a task-oriented choice of input subspaces. The existence of these input subspaces is a necessary condition for the structural non-interaction property. A simulation example in which the subspaces and the control structure are explicitly calculated is shown and widely explicated.},
author = {Mercorelli, Paolo},
journal = {Kybernetika},
keywords = {subspaces; matrices; manipulators; internal forces; subspaces; matrices; internal forces; micro-manipulation of internal tissues; task-oriented choice of input; decoupling force-motion control; feed-forward force-motion control; general manipulation system; non-interacting regulation; medical applications},
language = {eng},
number = {6},
pages = {1229-1249},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation},
url = {http://eudml.org/doc/251352},
volume = {48},
year = {2012},
}

TY - JOUR
AU - Mercorelli, Paolo
TI - Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation
JO - Kybernetika
PY - 2012
PB - Institute of Information Theory and Automation AS CR
VL - 48
IS - 6
SP - 1229
EP - 1249
AB - This paper presents a parametrization of a feed-forward control based on structures of subspaces for a non-interacting regulation. With advances in technological development, robotics is increasingly being used in many industrial sectors, including medical applications (e. g., micro-manipulation of internal tissues or laparoscopy). Typical problems in robotics and general mechanisms may be mathematically formalized and analyzed, resulting in outcomes so general that it is possible to speak of structural properties in robotic manipulation and mechanisms. This work shows an explicit formula for the reachable internal contact forces of a general manipulation system. The main contribution of the paper consists of investigating the design of a feed-forward force-motion control which, together with a feedback structure, realizes a decoupling force-motion control. A generalized linear model is used to perform a careful analysis, resulting in the proposed general geometric structure for the study of mechanisms. In particular, a lemma and a theorem are presented which offer a parametrization of a feed-forward control for a task-oriented choice of input subspaces. The existence of these input subspaces is a necessary condition for the structural non-interaction property. A simulation example in which the subspaces and the control structure are explicitly calculated is shown and widely explicated.
LA - eng
KW - subspaces; matrices; manipulators; internal forces; subspaces; matrices; internal forces; micro-manipulation of internal tissues; task-oriented choice of input; decoupling force-motion control; feed-forward force-motion control; general manipulation system; non-interacting regulation; medical applications
UR - http://eudml.org/doc/251352
ER -

References

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