Geometric modeling of mechanical systems for interactive control

MaRDI QIDQ3151742zbMATH OpenFDO

Authors Stefano Stramigioli

Publication date 24 March 2003

zbMATH Keywords

control of mechanical systemsmathematical modelingpassive controllerrobotscrew theory

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper first reviews basic tools like Lie groups and screw theory for the modeling of rigid mechanical systems, bringing with them a geometry of space which is different and more complex than other physical systems. After that a novel architecture has been presented which slightly resembles human physiology. The Intrinsically Passive Controller (IPC) which corresponds to a virtual physical system and controls the real time behaviour imitates, in some sense, muscles and spindles in biological systems. Both the IPC and the robot can be considered as a pre-compensated robot. For the entire collection see [Zbl 0994.00035].

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Cited in

(3)

• Geometric methods in the modeling of robot mechanisms
• Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms
• Modeling and IPC control of interactive mechanical systems. A coordinate-free approach

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