Interaction Control of Robot Manipulators

Six-degrees-of-freedom Tasks

Ciro Natale

122 pages, parution le 18/02/2003

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Résumé

Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.

Contents

Introduction
Task Space Motion Control
Task Space Impedance Control
Task Space Force Control
Applications to a Dual-Robot System
Conclusion and Future Research Directions

A- Orientation of a Rigid Body
B- Real-Time Implementation Notes

L'auteur - Ciro Natale

Napoli, Italy

Caractéristiques techniques

	PAPIER
Éditeur(s)	Springer
Auteur(s)	Ciro Natale
Parution	18/02/2003
Nb. de pages	122
Format	16 x 24
Couverture	Relié
Poids	358g
Intérieur	Noir et Blanc
EAN13	9783540001591