Singularity, uncertainty and compliance of robot manipulators
Author: Dinesh K. Pai
Publisher:
Published: 1990
Total Pages: 127
ISBN-13:
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Author: Dinesh K. Pai
Publisher:
Published: 1990
Total Pages: 127
ISBN-13:
DOWNLOAD EBOOKAuthor: Dinesh Kochikar Pai
Publisher:
Published: 1988
Total Pages: 298
ISBN-13:
DOWNLOAD EBOOKAuthor: Bruno Siciliano
Publisher: Springer Science & Business Media
Published: 2012-12-06
Total Pages: 154
ISBN-13: 1461544319
DOWNLOAD EBOOKOne of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Author: James M. Rehg
Publisher:
Published: 1997
Total Pages: 38
ISBN-13:
DOWNLOAD EBOOKAuthor: Jiaqing Shen
Publisher:
Published: 1996
Total Pages: 238
ISBN-13:
DOWNLOAD EBOOKAuthor: Daniel Sebastian Leidner
Publisher: Springer
Published: 2018-12-08
Total Pages: 186
ISBN-13: 3030048586
DOWNLOAD EBOOKIn order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment
Author:
Publisher:
Published: 1988
Total Pages: 728
ISBN-13:
DOWNLOAD EBOOKAuthor:
Publisher:
Published: 1990
Total Pages: 312
ISBN-13:
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