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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| Autor principal: | |
|---|---|
| Formato: | Livre numérique |
| Idioma: | Anglais |
| Publicado em: |
Berlin, Heidelberg :
Springer Berlin Heidelberg
2008.
Cham : Springer Nature |
| Colecção: | Springer Tracts in Advanced Robotics
|
| Acesso em linha: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Nota: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Texte imprimé, 9783642088735 • Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Texte imprimé, 9783540865124 • Cartesian impedance control of redundant and flexible-joint robots, Christian Ott, Berlin, Springer, 2008, 1 vol. (XIV-190 p.), Springer tracts in advanced robotics, 978-3-540-69253-9 |
Sumário:
- 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.