Cartesian impedance control of redundant and flexible-joint robots /
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| Corporate Author: | |
| Format: | eBook |
| Language: | English |
| Published: |
Berlin :
Springer,
[2008]
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| Series: | Springer tracts in advanced robotics.
v. 49. |
| Subjects: | |
| Online Access: | Connect to the full text of this electronic book |
Table of Contents:
- Modeling of flexible joint robots
- Cartesian impedance control : the rigid body case
- Nullspace stiffness
- The singular perturbation approach
- Controller design based on the cascaded structure
- A passivity based approach
- Evaluation
- Applications
- Controller comparison and conclusions.