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Cartesian impedance control of redundant and flexible-joint robots

Author: Christian Ott
Publisher: Berlin : Springer, ©2008.
Series: Springer tracts in advanced robotics, v. 49.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
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  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Ott, Christian.
Cartesian impedance control of redundant and flexible-joint robots.
Berlin : Springer, ©2008
(DLC) 2008928445
(OCoLC)233935233
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Christian Ott
ISBN: 9783540692553 354069255X 9783540692539 3540692533
OCLC Number: 288524316
Description: 1 online resource (xiv, 190 pages) : illustrations.
Contents: 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.
Series Title: Springer tracts in advanced robotics, v. 49.
Responsibility: Christian Ott.

Abstract:

This text expands the author's doctoral dissertation, focusing on two issues: joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on  Read more...

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