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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
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