Cartesian Impedance Control of Redundant and Flexible-Joint Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Cartesian Impedance Control of Redundant and Flexible-Joint Robots write by Christian Ott. This book was released on 2008-07-22. Cartesian Impedance Control of Redundant and Flexible-Joint Robots available in PDF, EPUB and Kindle. 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.
Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach
Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach write by Christian Ott. This book was released on 2005. Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach available in PDF, EPUB and Kindle. In this work a Cartesian impedance controller for flexible joint robots was proposed. The control approach was based on the stability theory for cascaded systems. In the proposed controller an inner torque feedback loop decouples the torque dynamics from the rigid body dynamics. For the implementation of the impedance behaviour a control law well known from rigid body robotics is used in combination with the torque controller. It should also be mentioned that, apart from the considered impedance control problem, different rigid body controllers can be applied to the flexible joint model analogously to the procedure described herein. For the proof of the asymptotic stability of the closed-loop system one can take advantage of Theorem 2. Appendix In this appendix, a short lemma about uniform global boundedness of the solutions of time-varying differential equations is presented, which is used in Section 5.3 for the proof of uniform global asymptotic stability of the Cartesian impedance controller. Consider a time-varying system of the form (A.1) x = f ( x, t ) , with state x n . In order to show that the solutions of (A.1) are uniformly globally bounded (according to Definition A.1, which is taken from (Loria, 2001)), the following Lemma A.1 is usefull. This lemma can be proven easily based on the theorems presented in (Khalil, 2002).
Whole-Body Impedance Control of Wheeled Humanoid Robots
Whole-Body Impedance Control of Wheeled Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Impedance Control of Wheeled Humanoid Robots write by Alexander Dietrich. This book was released on 2016-07-02. Whole-Body Impedance Control of Wheeled Humanoid Robots available in PDF, EPUB and Kindle. Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Aerial Manipulation
Aerial Manipulation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Aerial Manipulation write by Matko Orsag. This book was released on 2017-09-19. Aerial Manipulation available in PDF, EPUB and Kindle. This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
An Introduction to Impedance Control of Constrained Robotic Mechanisms
An Introduction to Impedance Control of Constrained Robotic Mechanisms - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook An Introduction to Impedance Control of Constrained Robotic Mechanisms write by Hayder Al-Shuka. This book was released on 2020-12-02. An Introduction to Impedance Control of Constrained Robotic Mechanisms available in PDF, EPUB and Kindle. Scientific Study from the year 2020 in the subject Engineering - Robotics, University of Baghdad (University of Baghdad, Department of Aeronautical Engineering, Baghdad, Iraq), language: English, abstract: This paper is concerned with summarizing the categories of impedance control showing the feature and the limitations of each category. Much attention is paid to variable impedance control considering the possible control schemes, performance, the stability, the integration of constant/variable compliant elements with the host robots, etc. For a long time, the robotics community concentrated on improving the performance of the robotic systems in free space. The advanced control strategies for position control could not be sufficient to stabilize the motion of robots in constrained spaces. In general, there are two categories of force control schemes with miscellaneous subdivisions: hybrid position-force control and impedance control. The former is well suitable for well-known interaction environment, however, it does not consider the dynamic interaction between robot end-effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion via creating a mathematical relationship between the interaction forces and the reference trajectories. In general, a mass-spring-damper impedance filter is used for stabilization purposes. Tuning the parameters of the impedance filter is not trivial and may lead to unstable contact if an unsuitable strategy is used. The human, however, has amazing control systems with advanced biological actuators. He/she can manipulate the muscles stiffness to softly comply to the interaction forces. Accordingly, the parameters of the impedance filter should be time-varying rather than value-constant in order to meet the human behavior during interaction tasks.
