The monograph written by Christian Ott is devoted to the classical research topic of impedance control which has recently found new interest after the progress in the mechanical design of lightweight robotic systems with improved actuation and sensing principles. The contents expand the author’s doctoral dissertation and are focused on two key issues, namely joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity, andare tested in extensive experiments on the DLR humanoid manipulator ’Justin’,one of the most advanced robotic systems available up to date from a technology and mechatronics standpoint. Complete treatment of Cartesian impedance control problem for robots with flexible joints Includes several simulations, experiments, and applications, in which the proposed controllers are evaluated INDICE: Introduction.- 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.
- ISBN: 978-3-540-69253-9
- Editorial: Springer
- Encuadernacion: Cartoné
- Páginas: 200
- Fecha Publicación: 01/07/2008
- Nº Volúmenes: 1
- Idioma: Inglés