Verfügbarkeit: Interaction control of robot manipulators

Interaction control of robot manipulators: six degrees-of-freedom tasks

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Bibliographische Detailangaben
1. Verfasser:	Natale, Ciro (VerfasserIn)
Format:	Buch
Sprache:	English
Veröffentlicht:	Berlin [u.a.] Springer 2003
Schriftenreihe:	Springer tracts in advanced robotics 3
Schlagworte:	Manipulateurs (Mécanismes) - Commande automatique Robots - Commande, Systèmes de Manipulators (Mechanism) > Automatic control Robots > Control systems Reglerentwurf Arbeitsraum Bahnplanung Kollisionsschutz Manipulator Industrieroboter Kraftsensor
Online-Zugang:	Inhaltsverzeichnis
Beschreibung:	Literaturverz. S. 87 - 90
Beschreibung:	XIV, 108 S. Ill., graph. Darst.
ISBN:	354000159X

Internformat

MARC


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Datensatz im Suchindex

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adam_text	CONTENTS PATH OPTIMIZATION FOR NONHOLONOMIC SYSTEMS: APPLICATION TO REACTIVE OBSTACLE AVOIDANCE AND PATH PLANNING . 1 FLORENT LAMIRAUX, DAVID BONNAFOUS, CARL VAN GEEM 1 INTRODUCTION . 1 2 NONHOLONOMICSYSTEMSANDPATHDEFORMATION. 3 3 APPLICATION TO THE MOBILE ROBOT HILARE TOWING A TRAILER . . . . . . . . . . 8 4 APPLICATION TO PATH PLANNING FOR TRUCKS AND TRAILERS . . . . . . . . . . . . . 12 5 CONCLUSION AND FUTURE WORK . . . . . . . . . . . . . . 16 FROM DYNAMIC PROGRAMMING TO RRTS: ALGORITHMIC DESIGN OF FEASIBLE TRAJECTORIES . 19 STEVEN M. LAVALLE 1 INTRODUCTION . 19 2 GENERICPROBLEMFORMULATION . 20 3 DYNAMICPROGRAMMING. 22 4 RAPIDLY-EXPLORINGRANDOMTREES. 27 5 RESEARCHCHALLENGES. 31 CONTROL OF NONPREHENSILE MANIPULATION . 39 KEVIN M. LYNCH, TODD D. MURPHEY 1 INTRODUCTION . 39 2 DEFINITIONS. 41 3 DYNAMIC UNDERACTUATED NONPREHENSILE MANIPULATION . . . . . . . . . . . . . 44 4 DISTRIBUTED MANIPULATION AND OPEN PROBLEMS . 50 MOTION PLANNING AND CONTROL PROBLEMS FOR UNDERACTUATED ROBOTS . 59 SONIA MART´*NEZ, JORGE CORT´ ES, FRANCESCO BULLO 1 MOTIVATING PROBLEMS FROM A VARIETY OF ROBOTIC APPLICATIONS . . . . . . 59 2 MATHEMATICAL UNIFYING APPROACH TO THE MODELING OF ROBOTIC SYSTEMS 62 3 EXISTING RESULTS ON PLANNING FOR UNDERACTUATED SYSTEMS . . . . . . . . . . 65 4 OPEN PROBLEMS AND POSSIBLE APPROACHES . . . . . . . . . . . . . . . . . . . . . . . . 69 MOTION DESCRIPTION LANGUAGES FOR MULTI-MODAL CONTROL IN ROBOTICS . . . 75 MAGNUS EGERSTEDT 1 INTRODUCTION . 75 2 MOTIONDESCRIPTIONLANGUAGES. 76 3 DESCRIPTIONLENGTHS. 80 4 A UNIFIED APPROACH TO CONTROL AND HARDWARE DESIGN . . . . . . . . . . . . . 84 5 PRELIMINARY RESULTS . . . . . . . . . . . . . . . . . . . . . . . . 86 XII CONTENTS 6 FURTHER ISSUES . 87 POLYNOMIAL DESIGN OF DYNAMICS-BASED INFORMATION PROCESSING SYSTEM . 91 MASAFUMI OKADA, YOSHIHIKO NAKAMURA 1 INTRODUCTION . 91 2 DYNAMICSANDWHOLEBODYMOTION . 92 3 MOTIONREDUCTIONANDSYMBOLIZATION. 93 4 DESIGN OF DYNAMICS-BASED INFORMATION PROCESSING SYSTEM . . . . . . . . 94 5 GENERATION OF THE WHOLE BODY MOTION . . 100 6 CONCLUSION. 102 ACTUATION METHODS FOR HUMAN-CENTERED ROBOTICS AND ASSO- CIATED CONTROL CHALLENGES . . . 105 MICHAEL ZINN, OUSSAMA KHATIB, BERNARD ROTH, J. KENNETH SALISBURY 1 INTRODUCTION . 105 2 NEWACTUATIONAPPROACHES . 108 3 CONCLUSION. 119 CONTROL OF A FLEXIBLE MANIPULATOR WITH NONCOLLOCATED FEED- BACK: TIME DOMAIN PASSIVITY APPROACH . . 121 JEE-HWAN RYU, DONG-SOO KWON, BLAKE HANNAFORD 1 INTRODUCTION . 121 2 REVIEW OF TIME DOMAIN PASSIVITY APPROACH . . . . . . . . . . . . . . . . . . . . . 122 3 IMPLEMENTATION ISSUES . 127 4 SIMULATIONEXAMPLES. 129 5 DISCUSSION. 130 CARTESIAN COMPLIANT CONTROL STRATEGIES FOR LIGHT-WEIGHT, FLEXIBLE JOINT ROBOTS . . . . . . . . . . . . . . . . . . . . . 135 ALIN ALBU-SCH¨ AER, GERD HIRZINGER 1 INTRODUCTION . 135 2 CARTESIANCOMPLIANTCONTROL. 136 3 CONTROL OF THE FLEXIBLE JOINT ROBOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 4 EXPERIMENTS . 147 5 DISCUSSION . 149 6 CONCLUSION. 149 TOWARDTHE CONTROL OF SELF-ASSEMBLING SYSTEMS . 153 ERIC KLAVINS 1 INTRODUCTION . 153 2 RELATEDWORK . 155 3 MODELING. 156 4 DISCUSSION . 162 5 CONCLUSION. 166 TOWARDS ABSTRACTION AND CONTROL FOR LARGE GROUPS OF ROBOTS . . . 169 CALIN BELTA, VIJAY KUMAR 1 INTRODUCTION . 169 2 DEFINITIONS AND PROBLEM FORMULATION . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 3 MEAN AND COVARIANCE CONTROL FOR FULLY ACTUATED PLANAR ROBOTS . . . 173 4 MEAN AND VARIANCE CONTROL FOR FULLY ACTUATED PLANAR ROBOTS . . . . . 179 5 CONCLUSION . . 182 OMNIDIRECTIONAL SENSING FOR ROBOT CONTROL . 183 KOSTAS DANIILIDIS, CHRISTOPHER GEYER, VOLKAN ISLER, AMEESH MAKADIA 1 INTRODUCTION . 183 2 A UNIFYINGPROJECTIONMODEL. 184 3 THESIGNALQUESTION. 185 4 THEGEOMETRYQUESTION. 187 5 THEPLANNINGQUESTION. 191 6 FUTUREWORK. 196 A PASSIVITY APPROACH TO VISION-BASED DYNAMIC CONTROL OF ROBOTS WITH NONLINEAR OBSERVER . 199 HIROYUKI KAWAI, SHINTARO IZOE, MASAYUKI FUJITA 1 INTRODUCTION . 199 2 RELATIVERIGIDBODYMOTION. 201 3 VISUALFEEDBACKSYSTEM. 202 4 VISION-BASEDROBOTCONTROL. 207 5 CONCLUSIONS. 212 VISUAL SERVOING ALONG EPIPOLES . 215 JACOPO PIAZZI, DOMENICO PRATTICHIZZO, ANTONIO VICINO 1 INTRODUCTION . 215 2 NOTATION. 216 3 VISUALSERVOING ALGORITHM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 4 EXPERIMENTS. 226 5 CONCLUSIONSANDOPENPROBLEMS. 228 TOWARD GEOMETRIC VISUAL SERVOING . 233 NOAH JOHN COWAN, DONG EUI CHANG 1 INTRODUCTION . 233 2 SIXDOFDI EOMORPHISMTOIMAGE-SPACE . 235 3 IMAGEJACOBIAN. 240 4 CONTROLLER. 242 5 CONCLUSION. 245 CONTENTS XIII XIV CONTENTS VISION-BASED ONLINE TRAJECTORY GENERATION AND ITS APPLICA- TION TO CATCHING . 249 AKIO NAMIKI, MASATOSHI ISHIKAWA 1 INTRODUCTION . 249 2 RELATEDWORKS. 250 3 VISION-BASEDONLINETRAJECTORYGENERATOR. 251 4 EXPERIMENT. 257 5 CONCLUSION. 259 STABILITY ANALYSIS OF INVARIANT VISUAL SERVOING AND ROBUSTNESS TO PARAMETRIC UNCERTAINTIES . . 265 EZIO MALIS 1 INTRODUCTION . 265 2 MODELING . 267 3 VISION-BASEDCONTROL. 269 4 STABILITY ANALYSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 5 ROBUSTNESS TO PARAMETRIC UNCERTAINTIES . . . . . . . . . . . . . . . . . . . . . . . . . 271 6 OPEN PROBLEMS . 273 7 EXPERIMENTALRESULTS. 274 8 CONCLUSION. 277
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spelling	Natale, Ciro Verfasser aut Interaction control of robot manipulators six degrees-of-freedom tasks Ciro Natale degrees of freedom tasks Berlin [u.a.] Springer 2003 XIV, 108 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 3 Literaturverz. S. 87 - 90 Manipulateurs (Mécanismes) - Commande automatique Robots - Commande, Systèmes de Manipulators (Mechanism) Automatic control Robots Control systems Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Arbeitsraum (DE-588)4142911-4 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Kraftsensor (DE-588)4165452-3 gnd rswk-swf Manipulator (DE-588)4037349-6 s Bahnplanung (DE-588)4267628-9 s Arbeitsraum (DE-588)4142911-4 s Kollisionsschutz (DE-588)4199255-6 s Kraftsensor (DE-588)4165452-3 s Reglerentwurf (DE-588)4177447-4 s DE-604 Industrieroboter (DE-588)4026861-5 s Springer tracts in advanced robotics 3 (DE-604)BV016421724 3 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010211567&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis
spellingShingle	Natale, Ciro Interaction control of robot manipulators six degrees-of-freedom tasks Springer tracts in advanced robotics Manipulateurs (Mécanismes) - Commande automatique Robots - Commande, Systèmes de Manipulators (Mechanism) Automatic control Robots Control systems Reglerentwurf (DE-588)4177447-4 gnd Arbeitsraum (DE-588)4142911-4 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Manipulator (DE-588)4037349-6 gnd Industrieroboter (DE-588)4026861-5 gnd Kraftsensor (DE-588)4165452-3 gnd
subject_GND	(DE-588)4177447-4 (DE-588)4142911-4 (DE-588)4267628-9 (DE-588)4199255-6 (DE-588)4037349-6 (DE-588)4026861-5 (DE-588)4165452-3
title	Interaction control of robot manipulators six degrees-of-freedom tasks
title_alt	degrees of freedom tasks
title_auth	Interaction control of robot manipulators six degrees-of-freedom tasks
title_exact_search	Interaction control of robot manipulators six degrees-of-freedom tasks
title_full	Interaction control of robot manipulators six degrees-of-freedom tasks Ciro Natale
title_fullStr	Interaction control of robot manipulators six degrees-of-freedom tasks Ciro Natale
title_full_unstemmed	Interaction control of robot manipulators six degrees-of-freedom tasks Ciro Natale
title_short	Interaction control of robot manipulators
title_sort	interaction control of robot manipulators six degrees of freedom tasks
title_sub	six degrees-of-freedom tasks
topic	Manipulateurs (Mécanismes) - Commande automatique Robots - Commande, Systèmes de Manipulators (Mechanism) Automatic control Robots Control systems Reglerentwurf (DE-588)4177447-4 gnd Arbeitsraum (DE-588)4142911-4 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Manipulator (DE-588)4037349-6 gnd Industrieroboter (DE-588)4026861-5 gnd Kraftsensor (DE-588)4165452-3 gnd
topic_facet	Manipulateurs (Mécanismes) - Commande automatique Robots - Commande, Systèmes de Manipulators (Mechanism) Automatic control Robots Control systems Reglerentwurf Arbeitsraum Bahnplanung Kollisionsschutz Manipulator Industrieroboter Kraftsensor
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volume_link	(DE-604)BV016421724
work_keys_str_mv	AT nataleciro interactioncontrolofrobotmanipulatorssixdegreesoffreedomtasks AT nataleciro degreesoffreedomtasks

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