Christian Ott's Cartesian Impedance Control of Redundant and Flexible-Joint PDF

By Christian Ott

ISBN-10: 3540692533

ISBN-13: 9783540692539

ISBN-10: 354069255X

ISBN-13: 9783540692553

This monograph is dedicated to the classical subject of impedance regulate, which has lately visible renewed curiosity following advances within the mechanical layout of light-weight robot platforms with more desirable actuation and sensing services. After a common advent into the subjects of impedance keep an eye on, the booklet specializes in key matters, specifically the therapy of joint flexibility and kinematic redundancy. numerous keep watch over legislation are built in keeping with mature ways similar to the singular perturbation concept, cascaded regulate idea, and passivity. The controllers are in comparison according to their conceptual strength in addition to useful implementation concerns. The overview was once played via a number of experiments with the DLR hands and the humanoid manipulator 'Justin'.

Show description

Read or Download Cartesian Impedance Control of Redundant and Flexible-Joint Robots PDF

Similar diagnostic imaging books

New PDF release: PACS A Guide to the Digital Revolution

"PACS: A consultant to the electronic Revolution, moment Edition," is a textbook of recent details sciences that fills a major desire inthe blossoming box of radiology. The emphasis is on a overview of technological advancements linked to the transition of radiology departments to filmless environments.

Get Image-Processing Techniques for Tumor Detection PDF

Univ. of Arizona, Tucson. offers a present evaluate of computing device processing algorithms for the identity of lesions, irregular lots, melanoma, and affliction in scientific photographs. provides examples from a variety of imaging modalities for larger acceptance of anomalies in MRI, CT, SPECT, and digital/film X ray.

Get Nuclear Cardiology and Correlative Imaging: A Teaching File PDF

Edited through Drs. João V. Vitola and Dominique Delbeke, hugely revered specialists, this case-based textual content advances the information and talents of skilled nuclear drugs physicians, cardiologists, and radiologists whereas additionally getting ready citizens for the state-of-the-art box of nuclear cardiology. the world over famous members supply an fundamental presentation of key thoughts and the newest expertise.

MRI at a Glance by Catherine Westbrook PDF

MRI at a look encapsulates crucial MRI physics wisdom. Illustrated in complete color all through, its concise textual content explains complicated details, to supply the fitting revision relief. It comprises subject matters starting from magnetism to protection, okay house to pulse sequences, and photo distinction to artefacts. This 3rd version has been absolutely up-to-date, with revised diagrams and new pedagogy, together with fifty five key issues, tables, experiment assistance, equations, and studying issues.

Extra info for Cartesian Impedance Control of Redundant and Flexible-Joint Robots

Example text

These issues, though practically relevant, are only rarely addressed in the robotics literature. Finally, an alternative orientation stiffness implementation which avoids the analytical singularities inherent to any minimal representation of SO(3) was briefly discussed for further reference. 4 Nullspace Stiffness In the previous chapter the non-redundant case was treated in which the number m of task coordinates is equal to the number n of configuration coordinates (m = n). The DLR lightweight robots, instead, have n = 7 joints, while the end-effector motion is described only by m = 6 degrees-of-freedom.

Since these (n, i)th co-factors are computed from the submatrix J (q) alone and do not depend on z(q), one can choose z(q) = cn (q)T . 11) where J i (q) ∈ Rm×m is the matrix J (q) with the ith column omitted. 2 Projection Based Approaches The superposition principle for impedances provides a suitable framework for the combination of different impedance behaviors. e. 4). 2 gives the following joint torque as an output, cf. 18), τ c = g(q) + J (q)T F imp , ˜ − Dd x ˙ x˙ d − K d x ˜˙ . 1. In this section it will be shown, how such a nullspace impedance with output τ n can be designed in an intuitive way.

For vector x the ease of presentation the following substitutions are made ˜ (q, t) ∂x = J x (q, t) , ∂q ˜ (q, t) ∂x = −v t (q, t) . 11). 12), one can see that the same controllers as in the previous sections can be used, when the following substitutions are made J (q) → J x (q, t) , x˙ d → −vt (q, t) , ¨ d → −v˙ t (q, t) . x Notice that, although these quantities become time-varying now, these substitutions do not alter the stability statements presented in this book. Explicit formulas of J x (q, t) and v t (q, t) for the different sets of local coordinates can be given in terms of the body Jacobian J b (q).

Download PDF sample

Cartesian Impedance Control of Redundant and Flexible-Joint Robots by Christian Ott

by Jeff

Rated 4.63 of 5 – based on 24 votes