E-Book, Englisch, Band 3, 108 Seiten, eBook
Natale Interaction Control of Robot Manipulators
Erscheinungsjahr 2003
ISBN: 978-3-540-36155-8
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark
Six degrees-of-freedom tasks
E-Book, Englisch, Band 3, 108 Seiten, eBook
Reihe: Springer Tracts in Advanced Robotics
ISBN: 978-3-540-36155-8
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark
Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.
Zielgruppe
Research
Autoren/Hrsg.
Weitere Infos & Material
Task Space Motion Control.- Task Space Impedance Control.- Task Space Force Control.- Applications to a Dual-Robot System.- Conclusion and future research directions.
