Robot Force Control:
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact f...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston, MA
Springer US
1999
|
| Schriftenreihe: | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors
540 |
| Schlagworte: | |
| Online-Zugang: | BTU01 Volltext |
| Zusammenfassung: | One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control |
| Beschreibung: | 1 Online-Ressource (XIII, 146 p) |
| ISBN: | 9781461544319 |
| DOI: | 10.1007/978-1-4615-4431-9 |
Internformat
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| 490 | 0 | |a The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |v 540 | |
| 520 | |a One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control | ||
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| 650 | 4 | |a Robotics and Automation | |
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Datensatz im Suchindex
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| author | Siciliano, Bruno Villani, Luigi |
| author_facet | Siciliano, Bruno Villani, Luigi |
| author_role | aut aut |
| author_sort | Siciliano, Bruno |
| author_variant | b s bs l v lv |
| building | Verbundindex |
| bvnumber | BV045185938 |
| collection | ZDB-2-ENG |
| ctrlnum | (ZDB-2-ENG)978-1-4615-4431-9 (OCoLC)1053823717 (DE-599)BVBBV045185938 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-1-4615-4431-9 |
| format | Electronic eBook |
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| id | DE-604.BV045185938 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:56Z |
| institution | BVB |
| isbn | 9781461544319 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030575115 |
| oclc_num | 1053823717 |
| open_access_boolean | |
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| physical | 1 Online-Ressource (XIII, 146 p) |
| psigel | ZDB-2-ENG ZDB-2-ENG_Archiv ZDB-2-ENG ZDB-2-ENG_Archiv |
| publishDate | 1999 |
| publishDateSearch | 1999 |
| publishDateSort | 1999 |
| publisher | Springer US |
| record_format | marc |
| series2 | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |
| spelling | Siciliano, Bruno Verfasser aut Robot Force Control by Bruno Siciliano, Luigi Villani Boston, MA Springer US 1999 1 Online-Ressource (XIII, 146 p) txt rdacontent c rdamedia cr rdacarrier The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors 540 One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control Engineering Robotics and Automation Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Automation Regelungssystem (DE-588)4134712-2 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Industrieroboter (DE-588)4026861-5 s Regelungssystem (DE-588)4134712-2 s 1\p DE-604 Villani, Luigi aut Erscheint auch als Druck-Ausgabe 9781461369950 https://doi.org/10.1007/978-1-4615-4431-9 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Siciliano, Bruno Villani, Luigi Robot Force Control Engineering Robotics and Automation Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Automation Regelungssystem (DE-588)4134712-2 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4134712-2 (DE-588)4026861-5 |
| title | Robot Force Control |
| title_auth | Robot Force Control |
| title_exact_search | Robot Force Control |
| title_full | Robot Force Control by Bruno Siciliano, Luigi Villani |
| title_fullStr | Robot Force Control by Bruno Siciliano, Luigi Villani |
| title_full_unstemmed | Robot Force Control by Bruno Siciliano, Luigi Villani |
| title_short | Robot Force Control |
| title_sort | robot force control |
| topic | Engineering Robotics and Automation Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Automation Regelungssystem (DE-588)4134712-2 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Engineering Robotics and Automation Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Automation Regelungssystem Industrieroboter |
| url | https://doi.org/10.1007/978-1-4615-4431-9 |
| work_keys_str_mv | AT sicilianobruno robotforcecontrol AT villaniluigi robotforcecontrol |