Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation
Paolo Mercorelli (2012)
Kybernetika
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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...