Robot force control

>> Google Books

所蔵情報QRコード

Robot force control / Bruno Siciliano and Luigi Villani

資料種別:

図書

出版情報:

Boston : Kluwer Academic Publishers, c1999

形態:

xiii, 146 p. ; 25 cm

シリーズ名:

The Kluwer international series in engineering and computer science ; SECS 540 <BA0004729X>

著者名:

ISBN:

9780792377337 [0792377338]

書誌ID:

BA46570678

子書誌情報

フルテキスト

所蔵情報

他の版・巻

書誌詳細

注記:

Includes bibliographical references (p. [135]-144) and index

主題:

Robots--Control systems

言語:

英語

目次情報:

Preface

Acknowledgments

Introduction / 1.：

Motion control vs. interaction control

Indirect vs. direct force control / 2.：

Experimental apparatus / 3.：

Motion Control

Modeling

Kinematics / 1.1：

Dynamics / 1.2：

Tracking control

Dynamic model-based compensation / 2.1：

Euler angles error / 2.2：

Angle/axis error / 2.3：

Quaternion error / 2.4：

Computational issues / 2.5：

Redundancy resolution / 2.6：

Regulation

Static model-based compensation / 3.1：

Orientation errors / 3.2：

Further reading / 4.：

Indirect Force Control

Compliance control

Active compliance

Experiments

Impedance control

Active impedance

Inner motion control

Three-DOF impedance control

Six-DOF impedance control

Euler angles displacement

Angle/axis displacement

Quaternion displacement / 3.3：

Nondiagonal six-DOF stiffness / 3.4：

Direct Force Control

Force regulation

Force and motion control / 1.3：

Force and position regulation

Force and position control

Moment and orientation control

Force tracking

Contact stiffness adaptation

Advanced Force and Position Control / 5.：

Task space dynamics

Adaptive control

Passivity-based control

Output feedback control

Appendices

Rigid Body Orientation / A：

Rotation matrix

Euler angles

Angle/axis

Quaternion

Models of Robot Manipulators / B：

Kinematic models

Six-joint manipulator

Seven-joint manipulator

Dynamic models

References

Index

Preface

Acknowledgments

Introduction / 1.：

Motion control vs. interaction control

Indirect vs. direct force control / 2.：

Experimental apparatus / 3.：

続きを見る

東工大ブックレビュー

類似資料:

1 図書 Theory of robot control Canudas de Wit, Carlos A., Siciliano, Bruno, 1959-, Bastin, G. (Georges), 1947- Springer	7 図書 Force control of robotics systems Gorinevskiĭ, D. M., Formalʹskiĭ, A. M. (Aleksandr Moiseevich), Shneĭder, A. I︠U︡ CRC press
2 電子ブック Robotics for Intralogistics in Supermarkets and Retail Stores Villani, Luigi., Beetz, Michael, Natale, Ciro, Siciliano, Bruno SpringerLink Books - AutoHoldings, Springer International Publishing AG	8 図書 Mechanics and control of robots Gupta, Krishna C. Springer
3 図書 Modelling and control of robot manipulators (: pbk) Siciliano, Bruno, 1959-, Sciavicco, L Springer	9 図書 Control theory of robotic systems Skowroński, Janisław M., 1930- World Scientific
4 図書 Springer handbook of robotics Siciliano, Bruno, 1959-, Khatib, Oussama Springer	10 図書 Control problems in robotics International Workshop on Control Problems in Robotics and Automation, Bicchi, Antonio, Christensen, Henrik I., … Springer
5 電子ブック Robot Dynamic Manipulation : Perception of Deformable Objects and Nonprehensile Manipulation Control Siciliano, Bruno., Ruggiero, Fabio SpringerLink Books - AutoHoldings, Springer International Publishing AG	11 図書 Advances in robot kinematics : analysis and control (: hbk) Lenarčič, J. (Jadran), Husty, Manfred L. Kluwer Academic
6 電子ブック Underwater labriform-swimming robot (: electronic bk) Rashid, Mofeed Turky, Fortuna, L. (Luigi), 1953- World Scientific	12 図書 Plan-based control of robotic agents : improving the capabilities of autonomous robots Beetz, Michael, 1961- Springer