Cartesian Impedance Control of Redundant and Flexible-Joint Robots /

Cartesian Impedance Control of Redundant and Flexible-Joint Robots /

Detalles Bibliográficos
Autor principal: Ott, Christian. (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: eBook
Lenguaje:English
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2008.
Edición:1st ed. 2008.
Colección:Springer Tracts in Advanced Robotics,
Materias:
Control engineering.
Robotics.
Mechatronics.
Artificial intelligence.
System theory.
Control and Systems Theory.
Control, Robotics, Mechatronics.
Artificial Intelligence.
Systems Theory, Control.
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.

Ejemplares similares