By Christian Ott
This monograph is dedicated to the classical subject of impedance keep an eye on, which has lately noticeable renewed curiosity following advances within the mechanical layout of light-weight robot platforms with better actuation and sensing services. After a basic creation into the themes of impedance keep an eye on, the ebook makes a speciality of key concerns, specifically the therapy of joint flexibility and kinematic redundancy. a number of keep watch over legislation are built in response to mature techniques similar to the singular perturbation thought, cascaded regulate conception, and passivity. The controllers are in comparison in line with their conceptual strength in addition to useful implementation concerns. The assessment was once played via a number of experiments with the DLR hands and the humanoid manipulator 'Justin'.
Read Online or Download Cartesian Impedance Control of Redundant and Flexible-Joint Robots PDF
Similar diagnostic imaging books
The CT-1 ligand receptor process has now not been totally elucidated. This idea may be complicated by way of the molecular cloning of the CT-1-specific receptor.
This quantity presents an summary of X-ray expertise and the old improvement of recent CT platforms. the focus of the e-book is an in depth derivation of reconstruction algorithms in 2nd and sleek 3D cone-beam platforms. an intensive research of CT artifacts and a dialogue of useful matters comparable to dose issues provide additional perception into present CT structures.
This softcover variation has a number of impressive strengths, akin to its succinct and well-organized evaluate of the topic. citizens should be capable of establish instances that they're more likely to come across in the course of board checks and in perform. Dr. Swischuk has chosen first-class simple movie examples from his own assortment that illustrate the stipulations he discusses and replicate his emphasis on cervical radiography.
MRI basic variations and Pitfalls provides over 1,800 photos of ordinary anatomic editions, artifacts, and different good points that mimic pathology on MRI scans. The e-book will decrease the speed of diagnostic blunders via aiding radiologists distinguish pathology from MRI appearances which may simulate sickness. prepared by way of anatomic sector, the ebook covers the gamut of neuroradiology, breast imaging, vascular, cross-sectional, and musculoskeletal radiology.
- Dynamic Contrast-Enhanced Magnetic Resonance Imaging in Oncology
- Equipment for Diagnostic Radiography
- Handbuch diagnostische Radiologie: Muskuloskelettales System 3
- Brain Imaging in Substance Abuse: Research, Clinical, and Forensic Applications (Forensic Science and Medicine)
- Coronary CT Angiography
Extra resources for Cartesian Impedance Control of Redundant and Flexible-Joint Robots
From a control point of view, also the following two well known properties are important. 5. The inertia matrix18 M (q) ∈ Rn×n is symmetric and positive deﬁnite: M (q) = M (q)T , y T M (q)y > 0 ∀q, y = 0 ∈ Rn . 6. 30): C(q, q) ˙ (q) − 2C(q, q))y ˙ =0 y T (M ∀y, q, q˙ ∈ Rn . , [SS96]) and will therefore be omitted here. 6 is strongly related to the passivity property of the ˙ via the Christoﬀel symbols. system and depends on the special choice of C(q, q) In case that the robot contains not only revolute but also prismatic joints, it is useful to consider a subset Qp ⊆ Q in which all20 the prismatic joints i ∈ P keep bounded by some lower and upper bounds qi,min and qi,max , respectively.
K c = 0. 25) corresponds to a vector from the origin of the desired frame D to the origin of the tool frame T , represented in frame D. From this one can get an appropriate set of translational end-eﬀector coordinates by rotating this vector into the base frame S pdt (q, t) = Rsd (t)d pdt (q, t) = pst (q) − psd (t) . 26) Then, one can choose xt = pst (q) as translational coordinates and psd (t) as their corresponding virtual equilibrium position. By this choice the translational part of the stiﬀness matrix corresponds to a stiﬀness, which is represented in the base frame S, and consequently the eigenvectors of K t , corresponding to the principal axes of the stiﬀness matrix, are constant vectors expressed in the base frame.
When approaching such a singular conﬁguration the controller splits up into two parts. One part in the controller is used to control the distance of the joint conﬁguration from the next singular conﬁguration via the relevant term in the factorization. The other part basically controls the movement orthogonally 12 to the singular direction by the classical operational space formulation [Kha87]. While this is a quite eﬀective approach, especially (but not only) for the use in a position controller, in case of an impedance controller one sometimes13 prefers simply to avoid the singular conﬁgurations.