Transferring Human Impedance Regulation Skills to Robots

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. In teleimpedance control, a compound ref...

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Detaylı Bibliyografya
Yazar: Ajoudani, Arash (Yazar)
Müşterek Yazar: SpringerLink (Online service)
Materyal Türü: e-Kitap
Dil:İngilizce
Baskı/Yayın Bilgisi: Cham : Springer International Publishing : 2016.
Imprint: Springer,
Edisyon:1st ed. 2016.
Seri Bilgileri:Springer Tracts in Advanced Robotics, 110
Konular:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Computational intelligence.
Control, Robotics, Automation.
Artificial Intelligence.
Computational Intelligence.
Control and Systems Theory.
Online Erişim:Full-text access
Diğer Bilgiler
Özet: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. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
Fiziksel Özellikler:XXIV, 167 p. 85 illus., 76 illus. in color. online resource.
ISBN:9783319242057
ISSN:1610-742X ;
DOI:10.1007/978-3-319-24205-7

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