Cartesian Impedance Control of Redundant and Flexible-Joint Robots

• Main Author: Ott, Christian (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.
• Series: Springer Tracts in Advanced Robotics, 49
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Control.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

This monograph is devoted to the classical topic of impedance control, which has recently seen renewed interest following advances in the mechanical design of lightweight robotic systems with improved actuation and sensing capabilities. After a general introduction into the topics of impedance contr...

Table of Contents:

• 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.