000 | 02790nam a22005175i 4500 | ||
---|---|---|---|
001 | 978-3-540-69255-3 | ||
003 | DE-He213 | ||
005 | 20161121230541.0 | ||
007 | cr nn 008mamaa | ||
008 | 100301s2008 gw | s |||| 0|eng d | ||
020 |
_a9783540692553 _9978-3-540-69255-3 |
||
024 | 7 |
_a10.1007/978-3-540-69255-3 _2doi |
|
050 | 4 | _aTJ212-225 | |
072 | 7 |
_aTJFM _2bicssc |
|
072 | 7 |
_aTEC004000 _2bisacsh |
|
082 | 0 | 4 |
_a629.8 _223 |
100 | 1 |
_aOtt, Christian. _eauthor. |
|
245 | 1 | 0 |
_aCartesian Impedance Control of Redundant and Flexible-Joint Robots _h[electronic resource] / _cby Christian Ott. |
264 | 1 |
_aBerlin, Heidelberg : _bSpringer Berlin Heidelberg, _c2008. |
|
300 |
_aXIV, 192 p. 63 illus. _bonline resource. |
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336 |
_atext _btxt _2rdacontent |
||
337 |
_acomputer _bc _2rdamedia |
||
338 |
_aonline resource _bcr _2rdacarrier |
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347 |
_atext file _bPDF _2rda |
||
490 | 1 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v49 |
|
505 | 0 | _aModeling 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. | |
520 | _aThis 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'. | ||
650 | 0 | _aEngineering. | |
650 | 0 | _aArtificial intelligence. | |
650 | 0 | _aSystem theory. | |
650 | 0 | _aControl engineering. | |
650 | 0 | _aRobotics. | |
650 | 0 | _aMechatronics. | |
650 | 1 | 4 | _aEngineering. |
650 | 2 | 4 | _aControl. |
650 | 2 | 4 | _aControl, Robotics, Mechatronics. |
650 | 2 | 4 | _aArtificial Intelligence (incl. Robotics). |
650 | 2 | 4 | _aSystems Theory, Control. |
710 | 2 | _aSpringerLink (Online service) | |
773 | 0 | _tSpringer eBooks | |
776 | 0 | 8 |
_iPrinted edition: _z9783540692539 |
830 | 0 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v49 |
|
856 | 4 | 0 | _uhttp://dx.doi.org/10.1007/978-3-540-69255-3 |
912 | _aZDB-2-ENG | ||
950 | _aEngineering (Springer-11647) | ||
999 |
_c500433 _d500433 |