9783540692539
Cartesian Impedance Control Of Redundant And Flexible-Joint Robots (Springer Tracts In Advanced Robotics) - the 13th international conference on Advanced Robotics, August 21-24, 2007, Jeju, Korea - Christian Ott
Springer (2008)
In Collection
#3212

Read It:
Yes
Robots - Control systems, Redundancy (Engineering), Coordinates, Mechanical impedance

The monograph written by Christian Ott is devoted to the classical research topic of impedance control which has recently found new interest after the progress in the mechanical design of lightweight robotic systems with improved actuation and sensing principles. The contents expand the author’s doctoral dissertation and are focused on two key issues, namely joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity, and are tested in extensive experiments on the DLR humanoid manipulator ’Justin’, one of the most advanced robotic systems available up to date from a technology and mechatronics standpoint.

Product Details
LoC Classification TJ211.35 .O88 2008
Dewey 629
Format Hardcover
Cover Price 99,00 €
No. of Pages 192
Height x Width 235 x 155 mm
Personal Details
Links Amazon
Library of Congress