A geometric procedure for robust decoupling control of contact forces in robotic manipulation

Paolo Mercorelli; Domenico Prattichizzo

Kybernetika (2003)

  • Volume: 39, Issue: 4, page [433]-445
  • ISSN: 0023-5954

Abstract

top
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.

How to cite

top

Mercorelli, Paolo, and Prattichizzo, Domenico. "A geometric procedure for robust decoupling control of contact forces in robotic manipulation." Kybernetika 39.4 (2003): [433]-445. <http://eudml.org/doc/33655>.

@article{Mercorelli2003,
abstract = {This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.},
author = {Mercorelli, Paolo, Prattichizzo, Domenico},
journal = {Kybernetika},
keywords = {geometric approach; robustness; manipulators; elastic contacts; geometric approach; robustness; manipulator; elastic contact},
language = {eng},
number = {4},
pages = {[433]-445},
publisher = {Institute of Information Theory and Automation AS CR},
title = {A geometric procedure for robust decoupling control of contact forces in robotic manipulation},
url = {http://eudml.org/doc/33655},
volume = {39},
year = {2003},
}

TY - JOUR
AU - Mercorelli, Paolo
AU - Prattichizzo, Domenico
TI - A geometric procedure for robust decoupling control of contact forces in robotic manipulation
JO - Kybernetika
PY - 2003
PB - Institute of Information Theory and Automation AS CR
VL - 39
IS - 4
SP - [433]
EP - 445
AB - This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.
LA - eng
KW - geometric approach; robustness; manipulators; elastic contacts; geometric approach; robustness; manipulator; elastic contact
UR - http://eudml.org/doc/33655
ER -

References

top
  1. Akella P. N., Cutkosky M. R., 10.1109/70.478432, Trans. Robotic and Automation 11 (1995), 6, 859–867 (1995) DOI10.1109/70.478432
  2. Basile G., Marro G., Controlled and Conditioned Invariants in Linear System Theory, Prentice Hall, Englewood Cliffs, N.J. 1992 Zbl0758.93002MR1149379
  3. Bhattacharyya S. P., 10.1137/0604053, SIAM J. Algebraic Discrete Methods 4 (1983), 4, 529–533 (1983) MR0721623DOI10.1137/0604053
  4. Bicchi A., Force distribution in multiple whole–limb manipulation, In: ICRA, 1993 
  5. Bicchi A., Melchiorri. C., Balluchi D., 10.1109/70.370503, IEEE Trans. Automat. Control 11 (1995), 2, 215–228 (1995) DOI10.1109/70.370503
  6. Prattichizzo A. Bicchi D., Mercorelli, P., Vicino A., Noninteracting force/motion control in general manipulation systems, In: Proc. 35th IEEE Conference on Decision Control, CDC’96, Kobe 1996 
  7. Marro G., Barbagli F., The algebraic output feedback in the light of dual-lattice structures, Kybernetika 35 (1999), 6, 693–706 (1999) MR1747970
  8. Mason M. T., Salisbury J. K., Robot Hands and the Mechanics of Manipulation, MIT Press, Cambridge, MA 1985 
  9. Meirovitch L., Analytical Methods in Vibrations, Macmillan, New York 1967 Zbl0166.43803
  10. Barbagli F., Marro G., Mercorelli, P., Prattichizzo D., Some results on output algebraic feedback with applications to mechanical systems, In: Proc. 37th IEEE Conference on Decision Control, CDC’98, Tampa 1998 
  11. Prattichizzo D., Structural Properties and Control of Robotics Manipulation, Ph.D. Thesis, University of Pisa, 1995 
  12. Prattichizzo D., Bicchi A., Dynamic analysis of mobility and graspability of general manipulation systems, Trans. Robotic and Automation 14 (1998), 2, 251–218 (1998) 
  13. Prattichizzo D., Mercorelli P., On some geometric control properties of active suspension systems, Kybernetika 36 (2000), 5, 549–570 MR1882794

NotesEmbed ?

top

You must be logged in to post comments.

To embed these notes on your page include the following JavaScript code on your page where you want the notes to appear.

Only the controls for the widget will be shown in your chosen language. Notes will be shown in their authored language.

Tells the widget how many notes to show per page. You can cycle through additional notes using the next and previous controls.

    
                

                
Note: Best practice suggests putting the JavaScript code just before the closing </body> tag.