Interaction Control of Robot Manipulators: Six degrees-of-freedom tasks

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Springer Science & Business Media, 8. jan. 2003 - 108 sider
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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.
 

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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
References
86
A Orientation of a Rigid Body
91
B RealTime Implementation Notes
99
Index
106
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