Dynamics and robust control of robot-environment interaction:
Gespeichert in:
| Format: | Elektronisch E-Book |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
Singapore
World Scientific Pub. Co.
©2009
|
| Schriftenreihe: | New frontiers in robotics
v. 2 |
| Schlagworte: | |
| Online-Zugang: | FAW01 FAW02 Volltext |
| Beschreibung: | Includes bibliographical references and index 1. Control of robots in contact tasks : a survey. 1.1. Introduction. 1.2. Contact Tasks. 1.3. Classification of constrained motion control concepts. 1.4. Model of the robot performing contact tasks. 1.5. Passive compliance methods. 1.6. Active compliant motion control methods. 1.7. Contact stability and transition. 1.8. Compliance planning. 1.9. Haptic systems control. 1.10. New robot application. 1.11. Conclusion -- 2. A unified approach to dynamic control of robots. 2.1. Introduction. 2.2. Dynamic environments. 2.3. Synthesis of control laws for the robot interacting with dynamic environment. 2.4. Analysis of transient processes. 2.5. Adaptive stabilization of motion and forces. 2.6. Position-force control -- a generalization. 2.7. Position-force control in Cartesian space. 2.8. New realization of hybrid control. 2.9. Impedance control -- a special case of the unified approach. 2.10. Stability of robots interacting with dynamic environments -- - 3. Impedance control. 3.1. Introduction. 3.2. Control objectives. 3.3. Impedance control scheme. 3.4. Impedance control synthesis. 3.5. Improved impedance control. 3.6. Typical impedance contact behavior. 3.7. Contact transition stability. 3.8. Contact stability conditions. 3.9. Influence of non-linear effects on contact-stability. 3.10. Evaluation of contact transition stability conditions. 3.11. Conclusion -- 4. Practical synthesis of impedance control. 4.1. Introduction. 4.2. Influence of the target parameters on the impedance control performance. 4.3. Selection of target impedance parameters -- impedance control design at lower control layer. 4.4. Synthesis of impedance control at higher layers. 4.5. Conclusion -- 5. Robust control of human-robot interaction in haptic systems. 5.1. Introduction. 5.2. Haptic system structures. 5.3. Haptic rendering. 5.4. Robust control of haptic systems interaction. 5.5. Conclusion -- - 6. Intelligent control techniques for robotic contact tasks. 6.1. Introduction. 6.2. The role of learning in intelligent control algorithms for compliant tasks. 6.3. A survey of intelligent control techniques for robotic contact tasks. 6.4. The synthesis of new connectionist learning control algorithms for robotic contact tasks. 6.5. Connectionist reactive control for robotic assembly tasks by soft sensored grippers. 6.6. Intelligent control of contact tasks in humanoid robotics. 6.7. Conclusion This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks. The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots |
| Beschreibung: | 1 Online-Ressource (xix, 638 pages) |
| ISBN: | 9789812834751 9789812834768 9812834753 9812834761 |
Internformat
MARC
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| 245 | 1 | 0 | |a Dynamics and robust control of robot-environment interaction |c Miomir Vukobratovic [and others] |
| 264 | 1 | |a Singapore |b World Scientific Pub. Co. |c ©2009 | |
| 300 | |a 1 Online-Ressource (xix, 638 pages) | ||
| 336 | |b txt |2 rdacontent | ||
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| 490 | 0 | |a New frontiers in robotics |v v. 2 | |
| 500 | |a Includes bibliographical references and index | ||
| 500 | |a 1. Control of robots in contact tasks : a survey. 1.1. Introduction. 1.2. Contact Tasks. 1.3. Classification of constrained motion control concepts. 1.4. Model of the robot performing contact tasks. 1.5. Passive compliance methods. 1.6. Active compliant motion control methods. 1.7. Contact stability and transition. 1.8. Compliance planning. 1.9. Haptic systems control. 1.10. New robot application. 1.11. Conclusion -- 2. A unified approach to dynamic control of robots. 2.1. Introduction. 2.2. Dynamic environments. 2.3. Synthesis of control laws for the robot interacting with dynamic environment. 2.4. Analysis of transient processes. 2.5. Adaptive stabilization of motion and forces. 2.6. Position-force control -- a generalization. 2.7. Position-force control in Cartesian space. 2.8. New realization of hybrid control. 2.9. Impedance control -- a special case of the unified approach. 2.10. Stability of robots interacting with dynamic environments -- | ||
| 500 | |a - 3. Impedance control. 3.1. Introduction. 3.2. Control objectives. 3.3. Impedance control scheme. 3.4. Impedance control synthesis. 3.5. Improved impedance control. 3.6. Typical impedance contact behavior. 3.7. Contact transition stability. 3.8. Contact stability conditions. 3.9. Influence of non-linear effects on contact-stability. 3.10. Evaluation of contact transition stability conditions. 3.11. Conclusion -- 4. Practical synthesis of impedance control. 4.1. Introduction. 4.2. Influence of the target parameters on the impedance control performance. 4.3. Selection of target impedance parameters -- impedance control design at lower control layer. 4.4. Synthesis of impedance control at higher layers. 4.5. Conclusion -- 5. Robust control of human-robot interaction in haptic systems. 5.1. Introduction. 5.2. Haptic system structures. 5.3. Haptic rendering. 5.4. Robust control of haptic systems interaction. 5.5. Conclusion -- | ||
| 500 | |a - 6. Intelligent control techniques for robotic contact tasks. 6.1. Introduction. 6.2. The role of learning in intelligent control algorithms for compliant tasks. 6.3. A survey of intelligent control techniques for robotic contact tasks. 6.4. The synthesis of new connectionist learning control algorithms for robotic contact tasks. 6.5. Connectionist reactive control for robotic assembly tasks by soft sensored grippers. 6.6. Intelligent control of contact tasks in humanoid robotics. 6.7. Conclusion | ||
| 500 | |a This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks. The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots | ||
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| 650 | 7 | |a Robots / Control systems |2 fast | |
| 650 | 4 | |a Robots |x Control systems | |
| 700 | 1 | |a Vukobratović, Miomir |e Sonstige |4 oth | |
| 710 | 2 | |a World Scientific (Firm) |e Sonstige |4 oth | |
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Datensatz im Suchindex
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| bvnumber | BV043127495 |
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| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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| id | DE-604.BV043127495 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T07:18:17Z |
| institution | BVB |
| isbn | 9789812834751 9789812834768 9812834753 9812834761 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028551686 |
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| owner_facet | DE-1046 DE-1047 |
| physical | 1 Online-Ressource (xix, 638 pages) |
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| publishDate | 2009 |
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| series2 | New frontiers in robotics |
| spelling | Dynamics and robust control of robot-environment interaction Miomir Vukobratovic [and others] Singapore World Scientific Pub. Co. ©2009 1 Online-Ressource (xix, 638 pages) txt rdacontent c rdamedia cr rdacarrier New frontiers in robotics v. 2 Includes bibliographical references and index 1. Control of robots in contact tasks : a survey. 1.1. Introduction. 1.2. Contact Tasks. 1.3. Classification of constrained motion control concepts. 1.4. Model of the robot performing contact tasks. 1.5. Passive compliance methods. 1.6. Active compliant motion control methods. 1.7. Contact stability and transition. 1.8. Compliance planning. 1.9. Haptic systems control. 1.10. New robot application. 1.11. Conclusion -- 2. A unified approach to dynamic control of robots. 2.1. Introduction. 2.2. Dynamic environments. 2.3. Synthesis of control laws for the robot interacting with dynamic environment. 2.4. Analysis of transient processes. 2.5. Adaptive stabilization of motion and forces. 2.6. Position-force control -- a generalization. 2.7. Position-force control in Cartesian space. 2.8. New realization of hybrid control. 2.9. Impedance control -- a special case of the unified approach. 2.10. Stability of robots interacting with dynamic environments -- - 3. Impedance control. 3.1. Introduction. 3.2. Control objectives. 3.3. Impedance control scheme. 3.4. Impedance control synthesis. 3.5. Improved impedance control. 3.6. Typical impedance contact behavior. 3.7. Contact transition stability. 3.8. Contact stability conditions. 3.9. Influence of non-linear effects on contact-stability. 3.10. Evaluation of contact transition stability conditions. 3.11. Conclusion -- 4. Practical synthesis of impedance control. 4.1. Introduction. 4.2. Influence of the target parameters on the impedance control performance. 4.3. Selection of target impedance parameters -- impedance control design at lower control layer. 4.4. Synthesis of impedance control at higher layers. 4.5. Conclusion -- 5. Robust control of human-robot interaction in haptic systems. 5.1. Introduction. 5.2. Haptic system structures. 5.3. Haptic rendering. 5.4. Robust control of haptic systems interaction. 5.5. Conclusion -- - 6. Intelligent control techniques for robotic contact tasks. 6.1. Introduction. 6.2. The role of learning in intelligent control algorithms for compliant tasks. 6.3. A survey of intelligent control techniques for robotic contact tasks. 6.4. The synthesis of new connectionist learning control algorithms for robotic contact tasks. 6.5. Connectionist reactive control for robotic assembly tasks by soft sensored grippers. 6.6. Intelligent control of contact tasks in humanoid robotics. 6.7. Conclusion This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks. The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems fast Robots Control systems Vukobratović, Miomir Sonstige oth World Scientific (Firm) Sonstige oth http://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&db=nlabk&AN=305228 Aggregator Volltext |
| spellingShingle | Dynamics and robust control of robot-environment interaction TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems fast Robots Control systems |
| title | Dynamics and robust control of robot-environment interaction |
| title_auth | Dynamics and robust control of robot-environment interaction |
| title_exact_search | Dynamics and robust control of robot-environment interaction |
| title_full | Dynamics and robust control of robot-environment interaction Miomir Vukobratovic [and others] |
| title_fullStr | Dynamics and robust control of robot-environment interaction Miomir Vukobratovic [and others] |
| title_full_unstemmed | Dynamics and robust control of robot-environment interaction Miomir Vukobratovic [and others] |
| title_short | Dynamics and robust control of robot-environment interaction |
| title_sort | dynamics and robust control of robot environment interaction |
| topic | TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems fast Robots Control systems |
| topic_facet | TECHNOLOGY & ENGINEERING / Robotics Robots / Control systems Robots Control systems |
| url | http://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&db=nlabk&AN=305228 |
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