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Cartesian Impedance Control of Redundant and Flexible-Joint Robots - Couverture souple

Livre 45 sur 153: Springer Tracts in Advanced Robotics

Ott, Christian

 
9783642088735: Cartesian Impedance Control of Redundant and Flexible-Joint Robots
Couverture souple
ISBN 10 : 3642088732 ISBN 13 : 9783642088735
Editeur : Springer, 2010

Synopsis

By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the 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 c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdissemi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

This text expands the author’s doctoral dissertation, focusing on two issues: joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
Springer
Date d'édition
2010
Langue
anglais
ISBN 10 
3642088732
ISBN 13 
9783642088735
Reliure
Broché
Nombre de pages
208
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