Skip to main content
SpringerLink
Log in
Book cover

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

  • Book
  • © 2008

Overview

Authors:
  1. Christian Ott
    View author publications

    You can also search for this author in PubMed   Google Scholar

  • Complete treatment of Cartesian impedance control problem for robots with flexible joints
  • Includes several simulations, experiments, and applications, in which the proposed controllers are evaluated

Part of the book series: Springer Tracts in Advanced Robotics (STAR)

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.00
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (10 chapters)

  1. Front Matter

    Download chapter PDF

  2. Introduction

    • Christian Ott
    Pages 1-11

  3. Modeling of Flexible Joint Robots

    • Christian Ott
    Pages 13-27

  4. Cartesian Impedance Control: The Rigid Body Case

    • Christian Ott
    Pages 29-44

  5. Nullspace Stiffness

    • Christian Ott
    Pages 45-63

  6. The Singular Perturbation Approach

    • Christian Ott
    Pages 65-75

  7. Controller Design Based on the Cascaded Structure

    • Christian Ott
    Pages 77-92

  8. A Passivity Based Approach

    • Christian Ott
    Pages 93-121

  9. Evaluation

    • Christian Ott
    Pages 123-147

  10. Applications

    • Christian Ott
    Pages 149-164

  11. Controller Comparison and Conclusions

    • Christian Ott
    Pages 165-167

  12. Back Matter

    Download chapter PDF
Back to top

Keywords

About this book

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 advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdissemi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation