Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Christian Ott
Автор: Dietrich Название: Whole-Body Impedance Control of Wheeled Humanoid Robots ISBN: 331940556X ISBN-13(EAN): 9783319405568 Издательство: Springer Рейтинг: Цена: 15672.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment.After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR).The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Описание: This book presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs, which are solved by neural networks or numerical algorithms.
Автор: Arash Ajoudani Название: Transferring Human Impedance Regulation Skills to Robots ISBN: 3319370286 ISBN-13(EAN): 9783319370286 Издательство: Springer Рейтинг: Цена: 13059.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced.
Описание: Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics.
Описание: This book presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs, which are solved by neural networks or numerical algorithms.
Автор: Arash Ajoudani Название: Transferring Human Impedance Regulation Skills to Robots ISBN: 3319242032 ISBN-13(EAN): 9783319242033 Издательство: Springer Рейтинг: Цена: 16979.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced.
Автор: Alexander Reiter Название: Time-Optimal Trajectory Planning for Redundant Robots ISBN: 3658127007 ISBN-13(EAN): 9783658127008 Издательство: Springer Рейтинг: Цена: 11101.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This master`s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time.
Описание: This book focuses on the mitigation of the destabilizing effects introduced by constant power loads (CPLs) in various non-isolated DC/DC converters and island DC microgrids using a robust non-linear sliding mode control (SMC) approach. This book validates theoretical concepts using real-time simulation studies and hardware implementations. Novel sliding mode controllers are proposed to mitigate negative impedance instabilities in DC/DC boost, buck, buck-boost, bidirectional buck-boost converters, and islanded DC microgrids. In each case, the condition for the large-signal stability of the converter feeding a CPL is established. An SMC-based nonlinear control scheme for an islanded DC microgrid feeding CPL dominated load is proposed so as to mitigate the destabilizing effect of CPL and to ensure system stability under various operating conditions. A limit on CPL power is also established to ensure system stability. For all proposed solutions, simulation studies and hardware implementations are provided to validate the effectiveness of the proposed sliding mode controllers.
Автор: Mikhail V. Nesterenko; Victor A. Katrich; Yuriy M. Название: Thin Impedance Vibrators ISBN: 1461427991 ISBN-13(EAN): 9781461427995 Издательство: Springer Рейтинг: Цена: 18284.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: The book explores the foundations of the theory of thin impedance vibrator antennas, and their uses, aiming to widen the boundaries of the impedance vibrator antennas application in complex modern radio-and-electronic systems and devices.
Автор: Callegaro Название: Electrical Impedance ISBN: 1138199435 ISBN-13(EAN): 9781138199439 Издательство: Taylor&Francis Рейтинг: Цена: 12707.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
Electrical Impedance: Principles, Measurement, and Applications provides a modern and much-needed overview of electrical impedance measurement science and its application in metrology, sensor reading, device and material characterizations. It presents up-to-date coverage of the theory, practical methods, and modeling. The author covers the main impedance measurement techniques, stressing their practical application. The book includes a large set of measurement setup schematics, and diagrams and photos of standards and devices. It also offers an extensive list of references to both historical and recent papers on devices, methods, and traceability issues.
Reviews the main definitions of the quantities related to impedance, some theorems of particular interest, the issue of impedance representation, and introduces the problem of impedance definition
Lists devices, appliances, circuits, and instruments employed as building blocks of impedance measurement setups
Classifies the main impedance measurement methods, including details on their implementation when a specific impedance definition is chosen
Discusses the increasing use of mixed-signal electronics in impedance measurement setups
Covers applications including details on the measurement of electromagnetic properties of materials
Introduces impedance metrology, including artifact impedance standards, and the realization and reproduction of SI impedance units
Автор: Julian F. Miller Название: Cartesian Genetic Programming ISBN: 3642269982 ISBN-13(EAN): 9783642269981 Издательство: Springer Рейтинг: Цена: 18167.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Cartesian Genetic Programming (CGP) is a highly effective and increasingly popular form of genetic programming. This book contains chapters written by the leading figures in the development and application of CGP.
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