Download Dynamics and Robust Control of Robot-environment Interaction by Vukobratovic Miomir, Surdilovic Dragoljub, Ekalo Yury PDF

By Vukobratovic Miomir, Surdilovic Dragoljub, Ekalo Yury

This booklet covers the main beautiful challenge in robotic keep watch over, facing the direct interplay among a robotic and a dynamic setting, together with the human-robot actual interplay. It presents entire theoretical and experimental insurance of interplay keep watch over difficulties, ranging from the mathematical modeling of robots interacting with complicated dynamic environments, and continuing to numerous thoughts for interplay keep watch over layout and implementation algorithms at various keep watch over layers. targeting the educational precept, it additionally exhibits the appliance of recent and complicated studying algorithms for robot touch tasks.
The final target is to strike an exceptional stability among the mandatory theoretical framework and sensible facets of interactive robots.
Contents: keep an eye on of Robots in touch projects: A Survey; A Unified method of Dynamic keep an eye on of Robots; Impedance regulate; useful Synthesis of Impedance regulate; strong regulate of Human-Robot interplay in Haptic structures; clever regulate ideas for robot touch initiatives.

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Additional resources for Dynamics and Robust Control of Robot-environment Interaction (New Frontiers in Robotics)

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26) become negative definite, which is a necessary and sufficient condition for the system instability [55]. Testing the kinematic stability conditions for both original and “correct” selection and position error transformation solutions, the authors have proven that in the first case the instability can occur. The new hybrid control scheme, however, always satisfies the kinematic stability condition (it is always possible to find a vector zq to ensure the kinematic stability). The second problem is related to some dynamic stability issues in force control [57].

The fundamental superiority of the force control implies, however, from the fact that the interaction force is a result of the control action, rather than of the actual deviation of environment position and chosen target impedance. In Goldenberg’s algorithm [38], force control is closed around an internal impedance control loop. Desired force and force error are used to compute an equivalent desired relative motion of the end-effector. In addition, the impedance control is included with the aim to achieve a suitable relationship between force and relative motion during contact.

However, if it is in contact, the analysis of this problem is complicated by the force/position relationship and experimental tests become highly dangerous. It may be concluded that the kinematic instability problem encountered in the considered explicit hybrid position/force control represents a serious deficiency of this method and reduces significantly its applicability. In order to overcome the difficulties related to the kinematic instability, Zhang [55] has proposed to introduce an additional selection of input forces.

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