Consistent Task Specification for Manipulation Systems With General Kinematics

DOI10.1115/1.2802388MaRDI QIDQ4550074zbMATH OpenOpenAlexFDO

Authors Antonio Bicchi, Domenico Prattichizzo

Publication date 7 December 2003

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/04ac2a9e48f5613437bf4c5fb01a91e3e8acd94d

zbMATH Keywords

defective caseequilibrium pointgripperlinearization of motionlocal approximationmanipulation of objects

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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(8)

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• Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation
• A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms

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