A Standard Form for the Dynamics of General Manipulation Systems
نویسندگان
چکیده
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 t o 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.
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