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Cartesian Impedance Control of Redundant and Flexible-Joint Robots

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

Christian Ott

206,88 €
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Editorial:
Springer Nature B.V.
Año de edición:
2010
Materia
Inteligencia artificial
ISBN:
9783642088735
206,88 €
IVA incluido
Disponible

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Sobre IBD

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.

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