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• W1987288173 abstract "This contribution deals with a new analysis of a rigid body manipulation system. It is based on the well–knowngeometric control of system dynamics. In such a framework some typical problems in robotics are mathematicallyformalized and analyzed. The outcomes are so general that it is possible to speak of structural properties in roboticmanipulation. The problem of non-interacting force/motion control is investigated. A generalized linear model is usedand a careful analysis is made. The main result consists in proposing a task–oriented choice of the controlled outputs,for which the structural non-interaction property holds for a wide class of manipulation systems. Moreover, a decoupledlinear model predictive control is proposed which uses a pre-selecting matrix to speed up the dynamics of the mechanisms.The pre-selecting matrix enables to considers subspaces which correspond to the eigenvectors of decoupled system tospeed up the dynamic of the considered mechanism." @default.
• W1987288173 created "2016-06-24" @default.
• W1987288173 creator A5035867976 @default.
• W1987288173 date "2014-02-01" @default.
• W1987288173 modified "2023-09-25" @default.
• W1987288173 title "A Geometric Approach to the Decoupling Control and to Speed up the Dynamics of a General Rigid Body Manipulation System" @default.
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• W1987288173 doi "https://doi.org/10.4028/www.scientific.net/amm.534.93" @default.
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