Fumagalli, Matteo
Active Compliance Control
Teil von
  • Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors, 2013-09-01, p.67-84
Ort / Verlag
Cham: Springer International Publishing
Links zum Volltext
The iCub robot is generally constituted by particular types of mechanisms where every single motor do not directly actuate one coresponding joint. The main example is the shoulder transmission of the iCub robot. This mechanism is constituted by three motors with parallel axis moving idle pulleys that cooperate together to move a universal 3\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$3$$\end{document}DoF joints. This slution allows compactness and wide range of movements, similar to that of human shoulder. An advantage is that the overall moving mechanism results lightweight because of the allocation of the motors in the torso. On the other side, the control of such mechanisms requires to be analyzed. In this chapter, an analysis of the dynamic of coupled transmissions is conducted. The chapter highlights the problematics related to the motion control of coupled mechanisms, and addresses the derivation of control strategies for interaction conrol.
ISBN: 3319011219
ISBN: 9783319011219
ISBN: 9783319011226
ISBN: 3319011227
ISSN: 2190-5053
ISSN: 2190-5061
DOI: 10.1007/978-3-319-01122-6
Links zum Inhalt
Control Input, Impedance Control, Joint Torque, Motor Torque, Torque Control

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