Displaying similar documents to “On some geometric control properties of active suspensions systems”

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

Paolo Mercorelli, Domenico Prattichizzo (2003)

Kybernetika

Similarity:

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...

Robust decoupling through algebraic output feedback in manipulation systems

Paolo Mercorelli (2010)

Kybernetika

Similarity:

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...