Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation

MaRDI QIDQ4904503zbMATH OpenFDO

Authors Paolo Mercorelli

Publication date 30 January 2013

Full work available at URL http://www.kybernetika.cz/content/2012/6/1229

zbMATH Keywords

matricessubspacesinternal forcesmedical applicationsdecoupling force-motion controlfeed-forward force-motion controlgeneral manipulation systemmicro-manipulation of internal tissuesnon-interacting regulationtask-oriented choice of input

Mathematics Subject Classification ID

Medical applications (general) (92C50) Control of mechanical systems (70Q05) Robust stability (93D09) Geometric invariant theory (14L24) Geometric applications of topological (K)-theory (19L64)

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Cites work

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• scientific article; zbMATH DE number 53596 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• A geometric procedure for robust decoupling control of contact forces in robotic manipulation.
• Consistent Task Specification for Manipulation Systems With General Kinematics
• Decoupling and Pole Assignment by Dynamic Compensation
• Decoupling and Pole Assignment in Linear Multivariable Systems: A Geometric Approach
• Disturbance decoupling for descriptor systems by measurement feedback
• Disturbance decoupling for linear time-invariant systems: a matrix pencil approach
• On some geometric control properties of active suspensions systems.
• Robust decoupling through algebraic output feedback in manipulation systems
• The algebraic output feedback in the light of dual-lattice structures.

Cited in

(5)

• scientific article; zbMATH DE number 6101276 (Why is no real title available?)
• A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
• Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms
• A subspace to describe grasping internal forces in robotic manipulation systems
• A geometric procedure for robust decoupling control of contact forces in robotic manipulation.

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