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

zbMATH Open1255.93108MaRDI QIDQ4904503FDOQ4904503

Authors: Paolo Mercorelli 

Publication date: 30 January 2013

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

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• scientific article; zbMATH DE number 6101276
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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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• The algebraic output feedback in the light of dual-lattice structures.
• On some geometric control properties of active suspensions systems.
• A geometric procedure for robust decoupling control of contact forces in robotic manipulation.

Cited In (5)

• Title not available (Why is that?)
• 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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