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.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
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