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Force Control of Robotics Systems

Force Control of Robotics Systems


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About the Book

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



About the Author :
Gorinevsky\, Dimitry; Formalsky\, Alexander; Schneider\, Anatoli


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Product Details
  • ISBN-13: 9780849326714
  • Publisher: Taylor & Francis Inc
  • Publisher Imprint: CRC Press Inc
  • Height: 234 mm
  • No of Pages: 368
  • Width: 156 mm
  • ISBN-10: 0849326710
  • Publisher Date: 23 Jul 1997
  • Binding: Hardback
  • Language: English
  • Weight: 680 gr


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