Cartesian Impedance Control of Redundant and Flexible-Joint Robots /
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| Format: | eBook |
| Language: | English |
| Published: |
Berlin, Heidelberg :
Springer Berlin Heidelberg : Imprint: Springer,
2008.
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| Edition: | 1st ed. 2008. |
| Series: | Springer Tracts in Advanced Robotics,
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| Subjects: |
Table of Contents:
- 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.