Interaction control of robot manipulators. Six degrees-of-freedom tasks.
type: Item
instance of: scholarly article
title: Interaction control of robot manipulators. Six degrees-of-freedom tasks.
zbMATH Open document ID: 1044.93003
author: Ciro Natale
published in: Springer Tracts in Advanced Robotics
publication date: 2004-01-25T00:00:00Z
review text: The book is focused on a central problem in robot control, namely to manage the interaction between a robot manipulator and the environment. It is aimed at developing a treatment of the interaction control problem in the general case of a six degrees-of-freedom task foregoing the hypothesis of small displacements. A breakthrough of the work lies in the steps toward the control of cooperative robots interacting with each other and with the working environment. Many applications can draw advantage from the coordination of multiple robots performing the same task, e.g. carrying large or heavy loads, parts mating, assembling. The book can be considered as an attempt at developing a methodology in the task space approach, as a strategy to deal with the problem of interaction of both a single manipulator and multiple robots with the environment. The problem of multiple robot coordination is tackled both at the task planning level and the feedback control level, by resorting to a modular control architecture, very attractive from an industrial point of view. The contents of the monograph are organized as follows. Chapter 1 presents a classification of robotic interaction tasks and makes the key points of the task space approach evident. At the end of the chapter a description of the laboratory setup used to experiment with all the proposed control algorithms is reported. Chapter 2 is devoted to presenting some motion control schemes in the task space, each one corresponding to a different representation of end-effector orientation; they are experimentally compared in terms of performance and computational complexity and constitute the first stage of an interaction controller. A strategy for indirect force control is presented in Chapter 3, where the concept of six degrees-of-freedom impedance is introduced on energy-based arguments and with reference to the particular representation of end-effector orientation. The impedance control scheme is then designed and experimental…
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 2031573
zbMATH Keywords: robot manipulators
zbMATH Keywords: cooperative robots
zbMATH Keywords: multiple robots
zbMATH Keywords: interaction task space approach
zbMATH Keywords: interaction with the environment
zbMATH Keywords: task planning
zbMATH Keywords: indirect force control
zbMATH Keywords: impedance
zbMATH Keywords: end-effector orientation
zbMATH Keywords: direct force control
zbMATH Keywords: compliant environment
zbMATH Keywords: real-time implementation
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 2031573