Download Advances in Telerobotics (Springer Tracts in Advanced by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio PDF

By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer

A desirable booklet that covers intimately all the latest advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every little thing from tools and experimental effects to purposes and advancements. Its 3 sections disguise human process interfaces, keep watch over, and purposes. The e-book is complemented through a truly precious CD-ROM containing fifteen examine video clips that support to carry the cloth within the publication to existence.

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Extra resources for Advances in Telerobotics (Springer Tracts in Advanced Robotics)

Example text

The homogeneous solution is used to improve the device performance by choosing q˙ 0 to optimize a performance criterion H(q), a scalar function of the joint angles. Using gradient projection 40 M. Ueberle, N. Mock, and M. Buss the redundancy is solved by substituting q˙ 0 with α∇H(q) where the negative scalar α can be used to adjust the speed of the selfmotion. 6) H(q rot ) = θ92 − πθ9 resulting in a selfmotion that drives joint 9 towards θ9 = π/2. Recalling, that a singular configuration requires joint 9 to meet a multiple of π, this joint position maximizes the distance to singular configurations.

These experiments clearly confirmed the benefit of redundant joints in haptic hardware design; it was possible to drive the end-effector to arbitrary orientations while effectively preventing singular configurations.

2. 2 shows the most important representatives according to the classification mentioned above. Exoskeletons are usually worn devices mounted to the arm or leg. They reproduce the human body motions and the feedback is predominantly kinesthetic. Such a kind of interface is presented in chapter 4. Non-portable and kinesthetic predominant devices are devices that have a serial or parallel kinematic configuration and are manipulated by the operator’s fingers 1 The Human Role in Telerobotics 21 or hands.

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