Ebook: Interaction Control of Robot Manipulators: Six degrees-of-freedom tasks
Author: Dr. Ciro Natale (auth.)
- Tags: Automation and Robotics, Control Engineering, Artificial Intelligence (incl. Robotics), Numerical and Computational Methods in Engineering
- Series: Springer Tracts in Advanced Robotics 3
- Year: 2003
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
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-degrees of freedom 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.
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-degrees of freedom 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.
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-degrees of freedom 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.
Content:
Front Matter....Pages I-XIV
Introduction....Pages 1-10
Task Space Motion Control....Pages 11-28
Task Space Impedance Control....Pages 29-56
Task Space Force Control....Pages 57-68
Applications to a Dual-Robot System....Pages 69-82
Conclusion and future research directions....Pages 83-85
Back Matter....Pages 87-108
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-degrees of freedom 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.
Content:
Front Matter....Pages I-XIV
Introduction....Pages 1-10
Task Space Motion Control....Pages 11-28
Task Space Impedance Control....Pages 29-56
Task Space Force Control....Pages 57-68
Applications to a Dual-Robot System....Pages 69-82
Conclusion and future research directions....Pages 83-85
Back Matter....Pages 87-108
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