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

Description

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.

Get the book

Amazon.com

Search the book

eBay.com

Search the book

Other editions

• 

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

  • 2003-09-05
  • 108 pages
  • Ebook
  • Springer

Similar books

• 

  Animal Sciences: The Biology, Care, and Production of Domestic Animals, Fourth Edition

  By John R. Campbell, M. Douglas Kenealy, Karen L. Campbell

  Timberlake claimed in 1980 that a fundamental problem with Singer's work is the lack of an adequate definition of suffering ...

• 

  Resilient Agriculture: Cultivating Food Systems for a Changing Climate

  By Laura Lengnick

  3. D. Layne. 2013. Tree Fruit: Protecting Your Investment. American/Western Fruit Grower, September/October. 4. R. Snyder and J. Melu-Abreu. 2005. Frost ...

• 

  Biodesign: The Process of Innovating Medical Technologies

  By Stefanos Zenios, Josh Makower, Paul Yock

  At that time, these were in the low $10s of millions. ... be a good partner going forward, even though it takes longer to get the deal done," offered Chess.

• 

  Advanced Signal Processing: A Concise Guide

  By Amir-Homayoon Najmi, Todd Moon

  [ 59 ] S. Kotz , T. J. Kozubowski , and K. Podgorski , The Laplace ... valued signal processing : The proper way to deal with impropriety , ” IEEE Trans .

• 

  Resources for Technical Communication

  By Pearson Education, Pearson Education Staff, David P Pearson Education

  Some documents are annotated; some are left without annotations to provide more flexibility for instructors. This booklet can be packaged at no additional cost with any Longman title in technical communication.

• 

  Chemistry: An Introduction to General, Organic, and Biological Chemistry; Chemistry Study Pack Version 2.0 CD-ROM; The Chemistry of Life CD-ROM;...

  By Karen C. Timberlake

  Chemistry: An Introduction to General, Organic, and Biological Chemistry; Chemistry Study Pack Version 2.0 CD-ROM; The Chemistry of Life CD-ROM;...

• 

  Poultry Science: Fifth Edition

  By Colin G. Scanes, Karen D. Christensen

  The emission rates for ammonia (Casey et al., 2006): • Layers: 116 g NH3 per AU (AU or animal unit or 500 kg). • Broilers: 135 g NH3 per AU (AU or animal unit or 500 kg). Emission rates in different reports vary from less than either 10 ...

• 

  Solid State Materials Chemistry

  By Patrick M. Woodward, Pavel Karen, John S. O. Evans

  [45] B.F. Hoskins, R. Robson, “Design and construction of a new class of scaffolding-like materials comprising infinite polymeric frameworks of 3D-linked molecular rods. A reappraisal of the zinc cyanide and cadmium cyanide structures ...

• 

  Abbreviations Dictionary

  By Dean A. Stahl, Karen Landen

  ... Tallest Mountain Mount Robson—12,972 feet or 3,954 meters—in the Canadian Rockies Canada's Westernmost City Dawson, Yukon Canada's Westernmost Point in Yukon Territory just east of Alaska's Demarcation Point Canary Islands' Largest ...

• 

  Agriculture: A Very Short Introduction

  By Paul Brassley, Richard Soffe

  ACCOUNTING Christopher Nobes ADVERTISING Winston Fletcher AFRICAN AMERICAN RELIGION Eddie S. Glaude Jr AFRICAN HISTORY ... Hugh Bowden ALGEBRA Peter M. Higgins AMERICAN HISTORY Paul S. Boyer AMERICAN IMMIGRATION David A. Gerber AMERICAN ...