Kybernetika 46 no. 5, 850-869, 2010

Robust decoupling through algebraic output feedback in manipulation systems

Paolo Mercorelli

Abstract:

This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the ``object") by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification and its controllability. An example design of a force controller using algebraic output feedback is presented at the end of this paper. In this example, a matrix representing a static output feedback is designed. The coefficients of this matrix are the weights for the sensed outputs. With the approach proposed in this paper, a robust decoupling is obtained between the output feedback and the contact forces and joint positions.

Keywords:

geometric approach, manipulators, force/motion control

Classification:

93D09, 19L64, 70Q05, 14L24

paper.pdf

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