Interaction Control of Robot Manipulators: Six degrees-of-freedom tasksSpringer Science & Business Media, 8. jan. 2003 - 108 sider Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup. |
Innhold
1 Introduction | 1 |
2 Task Space Motion Control | 11 |
3 Task Space Impedance Control | 29 |
4 Task Space Force Control | 57 |
5 Applications to a DualRobot System | 69 |
6 Conclusion and future research directions | 83 |
86 | |
A Orientation of a Rigid Body | 91 |
B RealTime Implementation Notes | 99 |
106 | |
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Vanlige uttrykk og setninger
adopted alternative Euler angles angular acceleration angular velocity approach axis axis representation base frame Bruno Siciliano classical Euler angles compliant frame components computed contact force contact geometry control algorithm control law control schemes control strategy defined derivative described desired end-effector desired trajectory disk effector eigenvector elastic end-effector orientation feedback first force/torque sensor frame EC impedance control based implemented industrial robots initial and final inner motion control interaction control inverse dynamics kinematics linear Lyapunov function motion control loop mutual orientation null initial null space open operating mode operational space approach orientation displacement orientation error parameters performance position and orientation positive definite quaternion-based redundancy resolution reference representation of orientation representation singularities resolved acceleration robot manipulator rotation matrix rotational impedance equation rotational stiffness six-DOF impedance control specific surface task geometric consistency task planning task space tion torque torque sensor tracking unconstrained directions unit quaternion vector watchdog timer