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

• Main Author: Natale, Ciro (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2003.
• Edition: 1st ed. 2003.
• Series: Springer Tracts in Advanced Robotics, 3
• Subjects: Robotics.; Automation.; Control engineering.; Mechatronics.; Artificial intelligence.; Computational intelligence.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence.; Computational Intelligence.

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...

Table of Contents:

• Task Space Motion Control
• Task Space Impedance Control
• Task Space Force Control
• Applications to a Dual-Robot System
• Conclusion and future research directions.