Cartesian impedance control of redundant and flexible joint robots
Uiterlijk 28 januari in huis
This text expands the author's doctoral dissertation, focusing on two issues: joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity.
This monograph is devoted to the classical topic of impedance control, which has recently seen renewed interest following advances in the mechanical design of lightweight robotic systems with improved actuation and sensing capabilities. After a general introduction into the topics of impedance control, the book focuses on two key issues, namely the treatment of joint flexibility and kinematic redundancy. Several control laws are developed based on mature approaches such as the singular perturbation theory, cascaded control theory, and passivity. The controllers are compared based on their conceptual potential as well as practical implementation issues. The evaluation was performed through several experiments with the DLR arms and the humanoid manipulator 'Justin'.
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Taal: en
Bindwijze: Paperback
Oorspronkelijke releasedatum: 22 oktober 2010
Aantal pagina's: 208
Illustraties: Nee
Hoofdauteur: Christian Ott
Hoofduitgeverij: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Editie: Softcover reprint of hardcover 1st ed. 2008
Extra groot lettertype: Nee
Product breedte: 155 mm
Product lengte: 235 mm
Studieboek: Nee
Verpakking breedte: 155 mm
Verpakking hoogte: 11 mm
Verpakking lengte: 235 mm
Verpakkingsgewicht: 322 g
EAN: 9783642088735