Development and control of an anthropomorphic telerobotic system [Elektronische Ressource] / Bartłomiej Stańczyk

Lehrstuhl fur Steuerungs- und RegelungstechnikTechnische Universit at Munc henProf. Dr.-Ing./Univ. Tokio Martin BussDevelopment and Control of anAnthropomorphic Telerobotic SystemBart lomiej StanczykVollst andiger Abdruck der von der Fakult at fur Elektrotechnik und Informationstechnikder Technischen Universit at Munc hen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. Eckehard SteinbachPrufer der Dissertation:1. Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss2. Univ.-Prof. Dr.-Ing. habil. Heinz UlbrichDie Dissertation wurde am 21.02.2006 bei der Technischen Universit at Munc hen einge-reicht und durch die Fakult at fur Elektrotechnik und Informationstechnik am 17.07.2006angenommen.2ForewordThis thesis is a result of four years of work in the research group of my thesis adviserProf. Martin Buss; at rst at the Technische Universit at Berlin, then at the TechnischeUniversit at Munc hen. I would like to thank him for giving me the opportunity to conductexciting research in one of the most honorable robotics and control groups in Germany, forproviding me with great hardware and a wonderful research environment.During my time spent with the group, many people gave me support and advice innumerous ways. I would like to thank Dr. Konstantin Kondak from TU Berlin for leadingmy rst steps in Robotics. His help was invaluable during the design phase.