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

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-degrees of freedom force se...

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Λεπτομέρειες βιβλιογραφικής εγγραφής
Κύριος συγγραφέας: Natale, Ciro (Συγγραφέας, http://id.loc.gov/vocabulary/relators/aut)
Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
Γλώσσα:English
Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2003.
Έκδοση:1st ed. 2003.
Σειρά:Springer Tracts in Advanced Robotics, 3
Θέματα:
Διαθέσιμο Online:Full Text via HEAL-Link
Περιγραφή
Περίληψη: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-degrees of freedom 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.
Φυσική περιγραφή:XIV, 108 p. online resource.
ISBN:9783540361558
ISSN:1610-7438 ;
DOI:10.1007/3-540-36155-3