Read e-book online Advances in Control Theory and Applications PDF

By Manuel Béjar, Anibal Ollero, Federico Cuesta (auth.), Claudio Bonivento, Lorenzo Marconi, Carlo Rossi, Alberto Isidori (eds.)

ISBN-10: 354070700X

ISBN-13: 9783540707004

This quantity is the result of the 1st CASY workshop on "Advances on top of things idea and functions" which was once held at college of Bologna on might 22-26, 2006. It involves chosen contributions by way of a few of the invited audio system and includes fresh ends up in control.

The quantity is meant for engineers, researchers, and scholars on top of things engineering.

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Logarithmic quantizer Notice that the logarithmic quantizer is such that |qL (x) − x| ≤ δ|x| and so the parameter δ can be seen as the precision of the quantizer. Moreover δ determines also the number of quantization intervals we have in any finite subset of R. It is clear that the sets Sj are denumerable. We impose the initial ˆj (t) satisfies condition ξj (0) = 0. One can verify immediately that the estimate x the following recursive relation x ˆj (t + 1) = x ˆj (t) + qL (xj (t + 1) − xˆj (t)) .

Severity indices of injuries may be used to evaluate the safety of robots in pHRI. These should take into account the possible damages occurring when a manipulator collides with a human head, neck, chest or arm. Several standard indices of injury severity exist in other, non-robotic, domains. The automotive industry developed empirical/experimental formulas that correlate human body’s acceleration to injury severity, while the suitability of such formulas is still an open issue in robotics. C. Bonivento et al.

Some of them combine force of vision in the same feedback control loop, such as hybrid visual/force control [5], shared and traded control [6, 7] or visual impedance control [8, 9]. Human-Robot Interaction Control Using Force and Vision 53 2 Safety by Means of Control The first important criterion to limit injuries due to collisions is to reduce the weight of the moving parts of the robot. A prototypical example along this direction is the design of the DLR-III Lightweight Robot [10], which is capable of operating a payload equal to its own weight (13,5 kg).

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Advances in Control Theory and Applications by Manuel Béjar, Anibal Ollero, Federico Cuesta (auth.), Claudio Bonivento, Lorenzo Marconi, Carlo Rossi, Alberto Isidori (eds.)

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