| 书目名称 | Robot Force Control |
| 编辑 | Bruno Siciliano,Luigi Villani |
| 视频video | |
| 丛书名称 | The Springer International Series in Engineering and Computer Science |
| 图书封面 |  |
| 描述 | One of the fundamental requirements for the success of a robottask is the capability to handle interaction between manipulator andenvironment. The quantity that describes the state of interaction moreeffectively is the contact force at the manipulator‘s end effector.High values of contact force are generally undesirable since they maystress both the manipulator and the manipulated object; hence the needto seek for effective force control strategies. The book provides atheoretical and experimental treatment of robot interaction control.In the framework of model-based operational space control, stiffnesscontrol and impedance control are presented as the basic strategiesfor indirect force control; a key feature is the coverage ofsix-degree-of-freedom interaction tasks and manipulator kinematicredundancy. Then, direct force control strategies are presented whichare obtained from motion control schemes suitably modified by theclosure of an outer force regulation feedback loop. Finally, advancedforce and position control strategies are presented which includepassivity-based, adaptive and output feedback control schemes.Remarkably, all control schemes are experimentally tested on a setupc |
| 出版日期 | Book 1999 |
| 关键词 | Sensor; Tracking; architecture; industrial robot; kinematics; modeling; reading; robot; robotics |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-1-4615-4431-9 |
| isbn_softcover | 978-1-4613-6995-0 |
| isbn_ebook | 978-1-4615-4431-9Series ISSN 0893-3405 |
| issn_series | 0893-3405 |
| copyright | Springer Science+Business Media New York 1999 |
发表于 2025-3-21 17:42:11
