Voir la critique Programming Robot Controllers Livre

Titre	Programming Robot Controllers
Taille du fichier	1,260 KB
Fichier	programming-robot-co_eEGmV.epub
	programming-robot-co_gjMpf.mp3
Publié	4 years 9 months 22 days ago
Nombre de pages	211 Pages
Classe	FLAC 96 kHz
Temps	53 min 40 seconds

Programming Robot Controllers

Catégorie: Cuisine et Vins, Romans et littérature, Manga
Auteur: Hans Rosling
Éditeur: Cressida Cowell
Publié: 2016-08-05
Écrivain: Shirzad Chamine
Langue: Sanskrit, Tagalog, Catalan, Hongrois, Tamil
Format: eBook Kindle, Livre audio

Multi-robot and task-space force control with quadratic programming - We extend the task-space multi-objective controllers that write as quadratic programs (QP) to handle multi-robot systems as a single centralized control. The idea is to assemble all the 'robots' models and their interaction task constraints into a single QP formulation. By multi-robot we mean that whatever entities a given robot will interact with (solid or articulated systems, actuated or not or partially, fixed-base or floating-base), we model them as robots and the controller computes the state of the overall system and their interaction forces in a physically consistent way. By doing so, the tasks specification simplifies substantially. At the heart of the interactions between the systems is the contact forces: we provide methodologies to achieve reliable force tracking with our multi-robot QP controller. The approach is assessed with a large panel of experiments on real complex robotic platforms (full-size humanoid, dexterous robotic hand, fixed-base anthropomorphic arm), performing whole-body manipulati

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Task-level programming for control systems using discrete control synthesis - Robotic and control systems are ever more difficult to design, program, as well as to operate. This is due to their growing size and complexity. Therefore, their real-time programming and execution architectures require more user and design assistance, based on usable abstraction and tool support. Especially in safety-critical control systems (, space robotics, robotic surgery) formal methods can be useful, but they have to be made usable by application domain specialists. User-friendly, domain-specific languages and interfaces ease the application of real-time analysis and implementation techniques. We are particularly interested in task-level programming of robot and control systems, where tasks encapsulate control laws. We consider the application of discrete control synthesis techniques, integrated into the framework of a task-level robot programming environment: they support the automated generation of correct controllers for control applications. We use the synchronous programming environment Signal

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