A Standard Form for the Dynamics of General Manipulation Systems

In this paper we consider the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm limbs, interacting with a manipulated object by means of contacts. A geometric approach to the analysis of the linearized dynamics of such systems is presented, which provides much insight in some of their intrinsic characteristics in the light of classical system-theoretic concepts such as controllability, observability, and canonical forms.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Antonio Bicchi, Domenico Prattichizzo
• Keywords: Classical System-theoretic Concepts, ICRA 1995, Multiple Cooperating, Robotic Manipulation Systems, Robotics