Displaying similar documents to “A geometric procedure for robust decoupling control of contact forces in robotic manipulation”

On some geometric control properties of active suspensions systems

Domenico Prattichizzo, Paolo Mercorelli (2000)

Kybernetika

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The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed...

Robust decoupling through algebraic output feedback in manipulation systems

Paolo Mercorelli (2010)

Kybernetika

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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...