Titlebook: Cartesian Impedance Control of Redundant and Flexible-Joint Robots; Christian Ott Book 2008 Springer-Verlag Berlin Heidelberg 2008 Cartesi

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Cartesian Impedance Control: The Rigid Body Case,work of Hogan about the concept of impedance control [Hog85a, Hog85b, Hog85c] and on the . by Khatib [Kha87]. In Section 3.2 the case of a desired impedance is analyzed, in which the inertial behavior must not be shaped explicitly. This brings about the problem of designing the damping matrix in an

初学者

Nullspace Stiffness,ates (.). The DLR lightweight robots, instead, have . joints, while the end-effector motion is described only by . degrees-of-freedom. The remaining . degrees-of-freedom can be used for so-called . that keep the end-effector fixed. Therefore, the question arises how to control these . degrees-of-fre

出来

The Singular Perturbation Approach,rast to this, the flexible joint robot model from Section 2.2.3 will be considered now..This chapter deals with the singular perturbation approach. This is an approximate method designed for systems which possess a so-called .. This means that the system can be virtually split up into two coupled su

误传

Controller Design Based on the Cascaded Structure,roblem of Cartesian impedance control. The main disadvantage of the singular perturbation approach is that only very weak stability statements can be made. The reason for this is that in the singular perturbation analysis some coupling terms between the slow and the fast dynamics are neglected. In t

误传

A Passivity Based Approach,ulation is a physical interpretation of the torque feedback. This allows to analyze the stability based on the passivity properties of the system..The energy shaping methodology for flexible joint robots was first introduced in [Tom91], where it was proven that a motor position based PD-controller l

秘密会议

Evaluation,trollers are compared in a simulation study in Section 8.1. The Cartesian impedance controllers based on the results of Chapter 5 and 7 are evaluated in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque senso

使饥饿

Applications,e control indubitably is one of the core building blocks needed for the successful execution of advanced manipulation tasks [Hog85a, Hog85b, Hog85c, BS98]. Notice that in all the presented applications the Cartesian impedance control is only one part of a larger setup. In practice, therefore, the qu

omnibus

Controller Comparison and Conclusions,experimental evaluation of these controllers was already presented in Chapter 8. Finally, an overall comparison highlighting the respective advantages and disadvantages of the presented control approaches shall be given in this concluding Chapter. Table 10.1 summarizes the properties of the differen