Interaction Control of Robot Manipulators: Six degrees-of-freedom tasks (Springer Tracts in Advanced Robotics, Band 3) - Hardcover

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9783540001591: Interaction Control of Robot Manipulators: Six degrees-of-freedom tasks (Springer Tracts in Advanced Robotics, Band 3)
Hardcover
ISBN 10: 354000159X ISBN 13: 9783540001591
Verlag: Springer, 2003

Inhaltsangabe

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.

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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.

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Verlag
Springer
Erscheinungsdatum
2003
Sprache
Englisch
ISBN 10 
354000159X
ISBN 13 
9783540001591
Einband
Gebundene Ausgabe
Anzahl der Seiten
122
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