Capa

CARTESIAN IMPEDANCE CONTROL OF REDUNDANT AND FLEXIBLE-JOINT IBD

SPRINGER
10 / 2010
9783642088735
Inglês

Sinopse

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.