Cartesian Impedance Control of Redundant and Flexible-Joint Robots

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 contr...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Ott, Christian (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2008.
Edición:1st ed. 2008.
Colección:Springer Tracts in Advanced Robotics,
Temas:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
System theory.
Control theory.
Control and Systems Theory.
Control, Robotics, Automation.
Artificial Intelligence.
Systems Theory, Control .
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Modeling of Flexible Joint Robots
  • Cartesian Impedance Control: The Rigid Body Case
  • Nullspace Stiffness
  • The Singular Perturbation Approach
  • Controller Design Based on the Cascaded Structure
  • A Passivity Based Approach
  • Evaluation
  • Applications
  • Controller Comparison and Conclusions.

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