Cartesian impedance control of redundant and flexible-joint robots /

Cartesian impedance control of redundant and flexible-joint robots /

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Bibliographic Details
Author / Creator:	Ott, Christian.
Imprint:	Berlin : Springer, ©2008.
Description:	1 online resource (xiv, 190 pages) : illustrations.
Language:	English
Series:	Springer tracts in advanced robotics, 1610-7438 ; v. 49 Springer tracts in advanced robotics ; v. 49.
Subject:	Robots -- Control systems. Robotics. Robotics. Robots -- Control systems.
Format:	E-Resource Book
URL for this record:	http://pi.lib.uchicago.edu/1001/cat/bib/11070125

Hidden Bibliographic Details
ISBN:	9783540692553 354069255X 9783540692539 3540692533
Notes:	Includes bibliographical references (pages 169-176) and index. Print version record.
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 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'.
Other form:	Print version: Ott, Christian. Cartesian impedance control of redundant and flexible-joint robots. Berlin : Springer, ©2008 9783540692539 3540692533

Table of 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.