Force Control of Robotics Systems
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Summary
Although the challenges of manipulator force control have spawned a growing body of literature, including a few books that touch upon the subject, Force Control of Robotics Systems is the first book that focuses on the fundamentals of this complex topic. Written by some of the first scientists to engage in force control research, this timely volume presents original results, some of which previously have not been readily accessible to Western audiences.
The text begins with a thorough presentation of the basics. Issues covered include force sensor design, force feedback synthesis, closed-loop dynamics, and more. The theoretical analysis in the book is based on the methods of Analytical Dynamics and Control Theory. The book also considers fundamental problems related to force control, and explains how to design simple and efficient control algorithms for performing tasks with robots. Algorithms and design methods presented in the book are experimentally verified and emphasize practical applications. The reference list includes over 350 entries, some of which have never been published in English before now.
Table of Contents
Force Information and its Use in Robotic Systems
Use of Force Information: Objectives and Problems
Force Measurement
Use of Force Information in Control
PART I. FORCE SENSORS
Conceptual Designs of Force Sensors
Fundamentals of Sensor Design
Gripper Sensors
Wrist Sensors
Other Types of Force Sensor
Basic Theory and Design Computation of Force Sensors
Main Characteristics of Force Sensors
Design Computations for Sensor Modular Elements
Six-Component Sensors with a Bending Elastic Element
Sensors with a Compressive-Tensile and Shear Elastic Element
PART II. MATHEMATICAL MODELS AND CONTROL
Research Robotic System
Manipulator Design and Kinematics
Control System
End-Effectors and Sensors
Control of Manipulator Contact With an Object
Mathematical Model for One-Degree-of-Freedom Manipulator Motion
Problem Statement for Keeping Contact with an Object
Linear Control
Switching Control
Contact Transition Control
Influence of Delay in Feedback Loop on the Stability of Contact
Influence of Transmission Compliance on the Stability of Contact
Influence of Manipulator Frame Compliance on the Stability of Contact
Keeping Contact with a Moving Object
Two-Degree-of-Freedom Manipulator Motion in Contact With an Object
Mathematical Model for Two-Degree-of-Freedom Manipulator Motion
Control Problem Statement
Following a Linear Contour
Following a Circular Contour
Experiments in Contour Following
Rotating a Steering Wheel
Planar Two-Link Manipulator
Control of Constraint Motion
General Mathematical Model for a Manipulator With a Force Sensor
Discussion on Equations of Motion. Simplified Model
Control of Manipulator Motion Along Constraints
Articulated Manipulator Motion in Contact with an Object
Motion Along a Screw Constraint
Opening a Hatch Lid
Discrete-Time Manipulator Control Design
Problems of Keeping Contact With a Stationary and Moving Object
The Simplest Discrete-Time Model for One-Degree-of-Freedom Manipulator Motion
Discrete-Time Model for Manipulator with Compliance in Gear Train
Manipulator Model with a Compliant Base
Discrete Control of Contact Transition
Maintaining Contact Force with a Moving Object
Control of Manipulator with Structural Compliance for a Moving Contact Point
Experiments in Maintaining Contact Force for a Moving Contact Point
PART III. APPLICATIONS
Manipulator Control in Surface Machining
Requirements for Grinding Tasks
Grinding of a Stationary Part
Grinding of a Part in the Manipulator Arm
Experiments in Grinding
Assembly Operations
Inserting a Peg into a Hole
Manipulator Control in a Peg-Hole Insertion
Threaded Joint Assembly
Manipulator Control in Threaded Joint Assembly
Searching for Parts and Grasping
Part Pickup Tasks
One-by-One Pickup of Parts Using Electromagnetic Gripper
Part Pickup Using Force Sensing Fingers
References
Index
