Introduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton
Summary
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
Notes
English
Online resource; title from PDF title page (SpringerLink, viewed March 16, 2016)
