Vukobratovic Miomir, Surdilovic Dragoljub, Ekalo Yury's Dynamics and Robust Control of Robot-environment Interaction PDF

By Vukobratovic Miomir, Surdilovic Dragoljub, Ekalo Yury

ISBN-10: 9812834753

ISBN-13: 9789812834751

This publication covers the main beautiful challenge in robotic keep watch over, facing the direct interplay among a robotic and a dynamic surroundings, together with the human-robot actual interplay. It presents entire theoretical and experimental assurance of interplay keep watch over difficulties, ranging from the mathematical modeling of robots interacting with advanced dynamic environments, and continuing to numerous innovations for interplay keep watch over layout and implementation algorithms at diversified keep watch over layers. targeting the training precept, it additionally indicates the appliance of recent and complex studying algorithms for robot touch tasks.
The final target is to strike an outstanding stability among the required theoretical framework and useful facets of interactive robots.
Contents: regulate of Robots involved projects: A Survey; A Unified method of Dynamic keep watch over of Robots; Impedance regulate; functional Synthesis of Impedance regulate; powerful regulate of Human-Robot interplay in Haptic structures; clever keep watch over concepts for robot touch projects.

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Additional info for Dynamics and Robust Control of Robot-environment Interaction (New Frontiers in Robotics)

Sample text

However, this assumption is opposite to the real performance of commercial robotic systems, which are designed to achieve high positioning accuracy, whereas elastic properties of the arms are not significant. This method does not offer any possibility to adapt system compliance to the various task requirements. The idea to utilize flexible manipulator arms as an instrumented compliant system [2] is coupled with additional problems due to complex modeling and controlling of elastic robots. Control of Robots in Contact Tasks: A Survey 15 The method based on mechanical compliance devices, in principle, also utilizes structural compliance, but most influential source of multi-axes compliance in this case is a specially constructed device, whose behavior is known and sufficiently repeatable.

A detailed consideration of the synthesis of position-based impedance control for industrial robots is presented in Chapter 3. 3 Other impedance-control approaches Considerable research efforts have been made to develop adaptive impedance control algorithms. Daneshmend et al. [27] have proposed a model-reference adaptive control scheme with Whitney’s damping control loop. Several authors have pursued Craig’s adaptive inverse dynamic control algorithms [50] and expanded it to suit the application for contact motion.

14) are decoupled in the task-frame before they are applied to the joints. e. 29) becomes kinematically stable with this control law. e. selection matrix. 34 Dynamics and Robust Control of Robot-Environment Interaction This causes the robot performance to be strongly dependent on the configuration and selection of controlled directions. Fisher and Mujtaba [56] have shown that the kinematic instability is not inherent to the explicit hybrid position/force control scheme, but it is rather a result of an inappropriate mathematical formulation of position/force decomposition via the selection matrix S.

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Dynamics and Robust Control of Robot-environment Interaction (New Frontiers in Robotics) by Vukobratovic Miomir, Surdilovic Dragoljub, Ekalo Yury


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