Roboter mit Tastsinn
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Roboter mit Tastsinn: (20 Fortschritte der Robotik)

Roboter mit Tastsinn: (20 Fortschritte der Robotik)


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Table of Contents:
1 Einleitung.- 1.1 Roboter und Tastsinn.- 1.2 Bewegungsführung von Industrierobotern.- 1.3 Regelungstechnische Grund-Aspekte.- 1.4 Kraftregelungsaufgaben.- 1.5 Anknüpfungen an die Literatur.- 2 Kraft-/Momenten-Signalverarbeitung.- 2.1 Vorüberlegungen zur Kraft-/Momenten-Messung.- 2.2 Zugrundeliegendes 6-achsiges Sensorelement.- 2.3 Struktur der Sensorsignalverarbeitung.- 2.4 Analoger Systemteil.- 2.5 Digitaler Systemteil.- 2.6 Kartesische Genauigkeit.- 2.7 Identifikation der Sensor-Matrix.- 2.8 Identifikation der Eigengewichtsparameter.- 2.9 Experimente zu den Eigengewichtseinflüssen.- 3 Jacobi-Matrix: Grundlagen und Algorithmen.- 3.1 Überblick zur Jacobi-Matrix in der Robotik.- 3.2 Zugrundeliegende kinematische Gleichungen.- 3.3 Jacobi-Matrix ?JA?B?.- 3.4 Effizienter Algorithmus für die Jacobi-Matrix ?JG?0?.- 3.5 Vergleich von Rechenzeiten.- 4 Kartesische Schnittstellen und einfache Anwendungen der Jacobi-Matrix.- 4.1 Abbildungszusammenhänge und Steuerprinzipien.- 4.2 Systemstruktur der Implementierung.- 4.3 Einsatz der transponierten Jacobi-Matrix.- 4.4 Kinematische Schnittstellen.- 4.5 Drehtransformationen im Kraftregelkreis.- 4.6 Durchfahren von Singularitäten mit dem JT-Prinzip.- 4.7 Zusammenschau zu Jacobi-Matrix und kartesischen Schnittstellen.- 5 Kraftregelkreis und Kraftregelgesetze.- 5.1 Kraftregelkreis.- 5.2 Kraftregelgesetze.- 5.3 Allgemeine Einflüsse auf das Kraftregelverhalten.- 6 Kartesische Experimente.- 6.1 Freies Führen des Robotergreifers im Raum.- 6.2 Kraftregelung unter eingeprägter Vorschubbewegung.- 6.3 Zweidimensionale Kraftregelung.- 6.4 Andruckregelung mit Momentenausgleich.- 6.5 Drehen einer on-line-veränderlichen Kurbel.- 6.6 Erste Eindrücke bei Entgratversuchen.- 7 Kraftregelung mit Vorsteuerung.- 7.1 Erwartungen,Vorarbeiten und Versuche.- 7.2 Regelungsstrukturen bei der Vorsteuerung.- 7.3 Lageregelung mit Drehzahlvorsteuerung.- 7.4 Implementierung des Führungsgrößenfilters.- 7.5 Messung der kartesischen Lage über den Kraftsensor.- 7.6 Systemverhalten bei kartesischen Soll-Lage-Sprüngen.- 7.7 Kraftregelverhalten bei Drehzahlvorsteuerung.- 7.8 Schlußfolgerung zur Vorsteuerung.- 8 “Hybrid Control” — Ein Irrweg?.- 9 “Unified Motion and Force Control” — die beste Lösung?.- 10 Zusammenfassung.- 11 Literaturverzeichnis.- 12 Symbolverzeichnis.- 12.1 Allgemeine Formelzeichen-Systematik.- 12.2 Links hochgestellte Indizes.- 12.3 Rechts stehende Indizes.- 12.4 Wortabkürzungen.- 12.5 Hauptverzeichnis der mathematischen und physikalischen Größen.- 12.6 Symbolik bei Ortsvektoren und Richtungsvektoren.- 12.7 Hinweis zu den Meßschrieben.- 13 Bildverzeichnis.- 14 Tabellenverzeichnis.


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Product Details
  • ISBN-13: 9783528066086
  • Publisher: Springer Fachmedien Wiesbaden
  • Publisher Imprint: Vieweg+Teubner Verlag
  • Height: 210 mm
  • No of Pages: 200
  • Returnable: N
  • Width: 148 mm
  • ISBN-10: 3528066083
  • Publisher Date: 01 Jan 1994
  • Binding: Paperback
  • Language: German
  • Returnable: N
  • Series Title: 20 Fortschritte der Robotik


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Roboter mit Tastsinn: (20 Fortschritte der Robotik)
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