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Cartesian Impedance Control of Redundant and Flexible-Joint Robots
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Cartesian Impedance Control of Redundant and Flexible-Joint Robots

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This text expands the author's doctoral dissertation, focusing on two issues: joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity.
Författare
Christian Ott
Upplaga
Softcover reprint of hardcover 1st ed. 2008
ISBN
9783642088735
Språk
Engelska
Vikt
310 gram
Utgivningsdatum
2010-10-22
Sidor
192