Geometric Control Techniques For Manipulation Systems

Abstract The control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A state-feedback control procedure is outlined for decoupling these outputs and finally special attention is devoted to the synthesis of the state observer.

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