On the Decoupling and Output Functional Controllability of Robotic Manipulation
نویسنده
چکیده
Résumé : The problem of force/motion control in robotic manipulation is studied. A noninteracting control law of grasping contact forces and object motions is proposed. In order to achieve force/motion trajectory tracking without transient errors, the output functional controllability of the controlled output is investigated. The framework throughout is the geometric approach to the multivariable systems. Numerical examples are provided to show the effectiveness of the proposed control law.
منابع مشابه
A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
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