ENGLISH

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

By Christian Ott (auth.)

Book information

Publisher
Springer-Verlag Berlin Heidelberg
Year
2008
ISBN
978-3-540-69253-9, 978-3-540-69255-3
DOI
10.1007/978-3-540-69255-3
Language
english
Format
PDF
Filesize
14 MB (14564023 bytes)
Series
Springer Tracts in Advanced Robotics 49
Edition
1
Pages
192\197
Orientation
yes
Scanned
yes
Time added
2013-08-01 04:00:00
Automation and Robotics; Artificial Intelligence (Control; Control Engineering

Description

This monograph is devoted to the classical topic of impedance control, which has recently seen renewed interest following advances in the mechanical design of lightweight robotic systems with improved actuation and sensing capabilities. After a general introduction into the topics of impedance control, the book focuses on two key issues, namely the treatment of joint flexibility and kinematic redundancy. Several control laws are developed based on mature approaches such as the singular perturbation theory, cascaded control theory, and passivity. The controllers are compared based on their conceptual potential as well as practical implementation issues. The evaluation was performed through several experiments with the DLR arms and the humanoid manipulator 'Justin'.

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