Titlebook: Cartesian Impedance Control of Redundant and Flexible-Joint Robots; Christian Ott Book 2008 Springer-Verlag Berlin Heidelberg 2008 Cartesi

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Book 2008 maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and

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Offenlegungspolitik von Investmentfondssed..This chapter refers to the rigid body part of the robot model without considering joint elasticities. The presented topics serve as a prerequisite for the design of Cartesian impedance controllers for the flexible joint robot model from Section 2.2.3 and can readily be combined with the controllers from Chapter 5, 6, and 7.

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Offenlegungspolitik von Investmentfondsf the separated subsystems, similarly to the procedure of the analysis of cascaded control systems in the linear case. It also provides the theoretical justification for neglecting un-modeled “high frequency” dynamics.

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Performancemessung des Kapitalgebers,ill be analyzed. The first one, which is discussed in Section 6.1, is based on the control theory for cascaded systems. While the flexible joint robot model from Section 2.2.3 is not in cascaded form, it can be brought into this form by an inner feedback loop. The second method is based on the . approach and will be discussed in Section 6.2.

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