On the decoupling and output functional controllability of robotic manipulation

摘要

The problem of force/motion control in robotic manipulation is studied. A noninteracting control law of grasping contact forces and object motions is proposed. In order to achieve force/motion trajectory tracking without transient errors, the output functional controllability of the controlled output is investigated. The framework throughout is the geoemtric approach to the multivariable systems. Numerical examples are provided to show the effectiveness of the rorposed control law.