標題: Titlebook: Cartesian Impedance Control of Redundant and Flexible-Joint Robots; Christian Ott Book 2008 Springer-Verlag Berlin Heidelberg 2008 Cartesi [打印本頁] 作者: Taylor 時間: 2025-3-21 18:17
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots影響因子(影響力)
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots影響因子(影響力)學科排名
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書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots網(wǎng)絡(luò)公開度學科排名
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots被引頻次
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots被引頻次學科排名
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書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots年度引用學科排名
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots讀者反饋
書目名稱Cartesian Impedance Control of Redundant and Flexible-Joint Robots讀者反饋學科排名
作者: 不再流行 時間: 2025-3-21 20:41 作者: 不出名 時間: 2025-3-22 03:53
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 作者: 初學者 時間: 2025-3-22 06:39
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作者: 出來 時間: 2025-3-22 12:29
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作者: 誤傳 時間: 2025-3-22 15:01
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作者: 誤傳 時間: 2025-3-22 20:47
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作者: 秘密會議 時間: 2025-3-22 23:50
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作者: 使饑餓 時間: 2025-3-23 02:38
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作者: omnibus 時間: 2025-3-23 07:20
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作者: 完成 時間: 2025-3-23 13:13 作者: 遭遇 時間: 2025-3-23 14:07 作者: 悲痛 時間: 2025-3-23 18:55
Book 2008 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作者: PARA 時間: 2025-3-24 00:38
Offenlegungspolitik von Investmentfondssed..This chapter refers to the rigid body part of the robot model without considering joint elasticities. The presented topics serve as a prerequisite for the design of Cartesian impedance controllers for the flexible joint robot model from Section 2.2.3 and can readily be combined with the controllers from Chapter 5, 6, and 7.作者: 圣歌 時間: 2025-3-24 03:42
Offenlegungspolitik von Investmentfondsf the separated subsystems, similarly to the procedure of the analysis of cascaded control systems in the linear case. It also provides the theoretical justification for neglecting un-modeled “high frequency” dynamics.作者: 小溪 時間: 2025-3-24 07:18
Performancemessung des Kapitalgebers,ill be analyzed. The first one, which is discussed in Section 6.1, is based on the control theory for cascaded systems. While the flexible joint robot model from Section 2.2.3 is not in cascaded form, it can be brought into this form by an inner feedback loop. The second method is based on the . approach and will be discussed in Section 6.2.作者: 修正案 時間: 2025-3-24 13:07 作者: figurine 時間: 2025-3-24 15:34 作者: CARK 時間: 2025-3-24 20:36 作者: FEAS 時間: 2025-3-24 23:22 作者: nullify 時間: 2025-3-25 03:21
A Passivity Based Approach,], where the stability analysis for a Cartesian hybrid position/force controller for a flexible joint robot model without gravitational effects was presented. The gravity compensation problem for PD-like regulation controllers was addressed in [DLSZ05, ZSL+03, ZLS04, ZSL+05].作者: 存在主義 時間: 2025-3-25 09:02
Introduction, kind of applications the robotic systems are desired to be built up very light. Consequently, these systems usually have considerable elasticity. Therefore, the need for control strategies arises which take account not only of the rigid body dynamics but also of the joint flexibility.作者: 未完成 時間: 2025-3-25 14:10
Modeling of Flexible Joint Robots,nd a . elasticity in the joints which is usually caused by the gears of the robot. For the former an infinite dimensional model, called ., can be derived based on the usual assumptions of the Euler-Bernoulli beam [dWSB96]. The latter, instead, leads to a finite dimensional model, called ..作者: Detain 時間: 2025-3-25 18:23 作者: 溺愛 時間: 2025-3-25 23:13
Applications,s were designed. In this presentation, consequently, only a rough description of the applications is given and the emphasis lies on the application of the Cartesian impedance controllers. Besides that also the generality of the impedance control concept for the use in manipulation tasks becomes visible.作者: ALTER 時間: 2025-3-26 03:27 作者: Infusion 時間: 2025-3-26 04:39
https://doi.org/10.1007/978-0-230-61278-5in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.作者: BILIO 時間: 2025-3-26 12:06 作者: 中子 時間: 2025-3-26 12:58
Evaluation,in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.作者: harpsichord 時間: 2025-3-26 18:06 作者: APEX 時間: 2025-3-26 22:49 作者: 干旱 時間: 2025-3-27 01:30 作者: concert 時間: 2025-3-27 07:05
Portfolioselektion des Fondsmanagers,as mechanical multi-body systems, where several rigid bodies are connected by actuated joints. In the past few years the robotics community evolved growing interest in robots which are designed for the use in service robotics scenarios, in which the robots will have to work close to humans. For this作者: 影響 時間: 2025-3-27 12:04
Performancemessung des Kapitalgebers,ial kinematic chain without loops. Furthermore, the links of the robot are assumed to be connected either by revolute or prismatic joints.When deriving a dynamical model of elastic robots basically two different sources of elasticity can be distinguished. The . elasticity caused by the robot links a作者: 性上癮 時間: 2025-3-27 14:10 作者: photophobia 時間: 2025-3-27 21:00
Performancemessung des Kapitalgebers,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作者: SSRIS 時間: 2025-3-28 00:24 作者: 警告 時間: 2025-3-28 06:07
Performancemessung des Kapitalgebers,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作者: 廢除 時間: 2025-3-28 08:18
R. Ravasio,R. W. Dal Negro,C. Lucioniulation 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作者: 細節(jié) 時間: 2025-3-28 13:19 作者: 匍匐 時間: 2025-3-28 15:20
Art Is Indistinguishable from Life,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作者: 移動 時間: 2025-3-28 19:49 作者: ligature 時間: 2025-3-29 02:18
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-freedom.作者: pulmonary 時間: 2025-3-29 06:02
Cartesian Impedance Control of Redundant and Flexible-Joint Robots978-3-540-69255-3Series ISSN 1610-7438 Series E-ISSN 1610-742X 作者: jettison 時間: 2025-3-29 09:45 作者: congenial 時間: 2025-3-29 14:44
https://doi.org/10.1007/978-3-540-69255-3Cartesian Impedance Control; Flexible-Joint Robots; Justin; Robot Control; mechatronics; modeling; robot; s作者: rods366 時間: 2025-3-29 17:15
