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A geometric procedure for robust decoupling control of contact forces in robotic manipulation. (English) Zbl 1249.93046

Summary: This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters are provided. These conditions are meaningful for several classes of manipulation systems with general kinematics.

MSC:

93B27 Geometric methods
93C85 Automated systems (robots, etc.) in control theory
93D09 Robust stability
19L64 Geometric applications of topological \(K\)-theory
70Q05 Control of mechanical systems
14L24 Geometric invariant theory
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References:

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