A complete solution for problems of vibration control in structures that may be subject to a broadband primary vibration field, this book addresses the following steps: experimental identification of the dynamic model of the structure; optimal placement of sensors and actuators; formulation of control constraints in terms of controller frequency response shape; controller design and simulation; and controller implementation and rapid prototyping. The identification procedure is a gray-box approach tailored to the estimation of modal parameters of large-scale flexible structures. The actuator/sensor placement algorithm maximizes a modal controllability index improving the effectiveness of the control. Considering limitations of sensors and actuators, the controller is chosen as a stable, band-pass MIMO system resulting from the closed-form solution of a robust control problem. Experimental results on an aeronautical stiffened skin panel are presented using rapid-prototyping hardware.

This monograph by Florian Rohrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on "Future Industrial Robotics," "Robotic Grasping" as well as "Human-Centered Robots." The book chapters cover almost all the topics nowadays considered hot within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD s two main pillars were the so-called experiments, 51 small-sized industry-driven research projects and the structured dialog a powerful interaction instrument between the stakeholders. The results described in this volume are expected to shed new light on innovation and technology transfer from academia to industry in the field of robotics."

Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.

This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD’s two main pillars were the so-called experiments, 51 small-sized industry-driven research projects and the structured dialog a powerful interaction instrument between the stakeholders. The results described in this volume are expected to shed new light on innovation and technology transfer from academia to industry in the field of robotics.

A complete solution for problems of vibration control in structures that may be subject to a broadband primary vibration field, this book addresses the following steps: experimental identification of the dynamic model of the structure; optimal placement of sensors and actuators; formulation of control constraints in terms of controller frequency response shape; controller design and simulation; and controller implementation and rapid prototyping. The identification procedure is a gray-box approach tailored to the estimation of modal parameters of large-scale flexible structures. The actuator/sensor placement algorithm maximizes a modal controllability index improving the effectiveness of the control. Considering limitations of sensors and actuators, the controller is chosen as a stable, band-pass MIMO system resulting from the closed-form solution of a robust control problem. Experimental results on an aeronautical stiffened skin panel are presented using rapid-prototyping hardware.

Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.