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[ספר][B] Cartesian impedance control of redundant and flexible-joint robots
C Ott - 2008 - books.google.com
By the dawn of the new millennium, robotics has undergone a major transf-mation in scope
and dimensions. This expansion has been brought about by the maturity of the? eld and the …
and dimensions. This expansion has been brought about by the maturity of the? eld and the …
[PDF][PDF] Dexterous robotic manipulation of deformable objects with multi-sensory feedback-a review
FF Khalil, P Payeur - Robot Manipulators Trends and Development, 2010 - core.ac.uk
Designing autonomous robotic systems able to manipulate deformable objects without
human intervention constitutes a challenging area of research. The complexity of …
human intervention constitutes a challenging area of research. The complexity of …
On the passivity-based impedance control of flexible joint robots
In this paper, a novel type of impedance controllers for flexible joint robots is proposed. As a
target impedance, a desired stiffness and dam** are considered without inertia sha** …
target impedance, a desired stiffness and dam** are considered without inertia sha** …
Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty
This paper introduces a systematic constraint-based approach to specify complex tasks of
general sensor-based robot systems consisting of rigid links and joints. The approach …
general sensor-based robot systems consisting of rigid links and joints. The approach …
Robust variable admittance control for human–robot co-manipulation of objects with unknown load
Over the last years, physical Human–Robot Interaction (pHRI) has become a particularly
interesting topic for industrial tasks. An important issue is allowing people and robots to …
interesting topic for industrial tasks. An important issue is allowing people and robots to …
[ספר][B] Virtual decomposition control: toward hyper degrees of freedom robots
WH Zhu - 2010 - books.google.com
Driven by the need to achieve superior control performances for robots with hyper degrees
of freedom, the virtual decomposition control approach is thoroughly presented in this book …
of freedom, the virtual decomposition control approach is thoroughly presented in this book …
Pose control of robot manipulators using different orientation representations: A comparative review
The pose of a rigid-body in 3-D space is described by a set of six independent variables,
being three for position and three for orientation. In pose control tasks it is useful to define a …
being three for position and three for orientation. In pose control tasks it is useful to define a …
Model predictive robot-environment interaction control for mobile manipulation tasks
Modern, torque-controlled service robots can regulate contact forces when interacting with
their environment. Model Predictive Control (MPC) is a powerful method to solve the …
their environment. Model Predictive Control (MPC) is a powerful method to solve the …
Dynamic buckling of magnetorheological fluid integrated by visco-piezo-GPL reinforced plates
This paper deals with the dynamic buckling analysis of sandwich plates with
magnetorheological (MR) fluid core and piezoelectric nanocomposite facesheets. The core …
magnetorheological (MR) fluid core and piezoelectric nanocomposite facesheets. The core …
A passivity based cartesian impedance controller for flexible joint robots-part II: Full state feedback, impedance design and experiments
The paper presents a Cartesian impedance controller for flexible joint robots based on the
feedback of the complete state of the system, namely the motor position, the joint torque and …
feedback of the complete state of the system, namely the motor position, the joint torque and …