A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism
Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements.
Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide:
* Offers a comprehensive reference with systematic treatment and a unified framework
* Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction
* Discusses the most current tribology methodology used to treat the multiple-scale effects
* Contains valuable descriptions of experiments and software used
* Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits
* Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control
Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
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Verlagsort
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ISBN-13
978-1-119-42249-5 (9781119422495)
Schweitzer Klassifikation
1 - Cover [Seite 1]
2 - Title Page [Seite 5]
3 - Copyright [Seite 6]
4 - Contents [Seite 7]
5 - Preface [Seite 11]
6 - Chapter 1 Introduction [Seite 15]
6.1 - 1.1 Robot Joint Friction Modeling and Parameter Identification [Seite 15]
6.2 - 1.2 Contact Perception in Virtual Environment [Seite 16]
6.3 - 1.3 Organization of This Book [Seite 17]
6.4 - References [Seite 18]
7 - Chapter 2 Fundamentals of Robot Dynamics and Control [Seite 23]
7.1 - 2.1 Robot Kinematics [Seite 23]
7.1.1 - 2.1.1 Matrix Description of Robot Kinematics [Seite 23]
7.1.2 - 2.1.2 Homogeneous Transformation Matrices [Seite 26]
7.1.3 - 2.1.3 Forward Kinematics [Seite 28]
7.1.4 - 2.1.4 Inverse Kinematics [Seite 38]
7.1.5 - 2.1.5 Velocity Kinematics [Seite 43]
7.2 - 2.2 Robot Dynamics [Seite 44]
7.3 - 2.3 Robot Control [Seite 45]
7.3.1 - 2.3.1 Introduction [Seite 45]
7.3.2 - 2.3.2 Trajectory Control [Seite 45]
7.3.2.1 - 2.3.2.1 Point?to?Point Control [Seite 46]
7.3.2.2 - 2.3.2.2 Trajectories for Paths Specified by Points [Seite 47]
7.3.3 - 2.3.3 Interaction Control [Seite 52]
7.3.3.1 - 2.3.3.1 Impedance Control [Seite 52]
7.3.3.2 - 2.3.3.2 Hybrid Force?Position Control [Seite 52]
7.4 - References [Seite 53]
8 - Chapter 3 Friction and Contact of Solid Interfaces [Seite 59]
8.1 - 3.1 Introduction [Seite 59]
8.2 - 3.2 Contact Between Two Solid Surfaces [Seite 60]
8.2.1 - 3.2.1 Description of Surfaces [Seite 60]
8.2.2 - 3.2.2 Contact Mechanics of Two Solid Surfaces [Seite 62]
8.3 - 3.3 Friction Between Two Solid Surfaces [Seite 69]
8.3.1 - 3.3.1 Adhesion [Seite 69]
8.3.2 - 3.3.2 Dry Friction [Seite 79]
8.3.2.1 - 3.3.2.1 Friction Mechanisms [Seite 79]
8.3.2.2 - 3.3.2.2 Friction Transitions and Wear [Seite 89]
8.3.2.3 - 3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence [Seite 92]
8.3.2.4 - 3.3.2.4 Effects of Environmental and Operational Condition on Friction [Seite 94]
8.3.3 - 3.3.3 Liquid Mediated Friction [Seite 95]
8.3.3.1 - 3.3.3.1 Stribeck Curve [Seite 95]
8.3.3.2 - 3.3.3.2 Unsteady Liquid?Mediated Friction [Seite 98]
8.3.3.3 - 3.3.3.3 Negative Slope of Friction?Velocity Curve [Seite 101]
8.3.4 - 3.3.4 Friction Models [Seite 101]
8.4 - References [Seite 113]
9 - Chapter 4 Friction Dynamics of Manipulators [Seite 129]
9.1 - 4.1 Friction Models of Robot Manipulator Joints [Seite 129]
9.2 - 4.2 Modeling Friction with Varied Effects [Seite 133]
9.3 - 4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction [Seite 137]
9.3.1 - 4.3.1 The General Motion Equation of Robot Manipulators [Seite 137]
9.3.2 - 4.3.2 The Motion Equation of Two?Link Robot Manipulators [Seite 144]
9.4 - 4.4 Nonlinear Dynamics and Chaos of Manipulators [Seite 146]
9.5 - 4.5 Parameters Identification [Seite 156]
9.5.1 - 4.5.1 Identification of Dynamic Parameters [Seite 156]
9.5.2 - 4.5.2 Identification of Parameters of Friction Models [Seite 160]
9.5.3 - 4.5.3 Uncertainty Analysis [Seite 165]
9.6 - 4.6 Friction Compensation and Control of Robot Manipulator Dynamics [Seite 167]
9.7 - References [Seite 172]
10 - Chapter 5 Force Feedback and Haptic Rendering [Seite 189]
10.1 - 5.1 Overview of Robot Force Feedback [Seite 189]
10.2 - 5.2 Generating Methods of Feedback Force [Seite 191]
10.2.1 - 5.2.1 Serial Mechanism [Seite 192]
10.2.1.1 - 5.2.1.1 Kinematics [Seite 192]
10.2.1.2 - 5.2.1.2 Inverse Kinematics [Seite 193]
10.2.1.3 - 5.2.1.3 Dynamics [Seite 195]
10.2.2 - 5.2.2 Parallel Mechanism [Seite 196]
10.2.2.1 - 5.2.2.1 Kinematics Model [Seite 196]
10.2.2.2 - 5.2.2.2 Forward Kinematics [Seite 199]
10.2.2.3 - 5.2.2.3 Inverse Kinematics [Seite 202]
10.2.2.4 - 5.2.2.4 Dynamics Based on Virtual Work [Seite 204]
10.2.3 - 5.2.3 Friction Compensation [Seite 208]
10.3 - 5.3 Calculation of Virtual Force [Seite 211]
10.3.1 - 5.3.1 Collision Detection [Seite 211]
10.3.1.1 - 5.3.1.1 The Construction of the Bounding Box [Seite 213]
10.3.1.2 - 5.3.1.2 Calculation of Distance between Bounding Boxes [Seite 216]
10.3.2 - 5.3.2 Calculating the Model of Virtual Force [Seite 220]
10.3.2.1 - 5.3.2.1 1?DoF Interaction [Seite 220]
10.3.2.2 - 5.3.2.2 2?DoF Interaction [Seite 221]
10.3.2.3 - 5.3.2.3 3?DoF Interaction [Seite 222]
10.3.2.4 - 5.3.2.4 6?DoF Interaction [Seite 224]
10.4 - 5.4 Haptic Display Based on Point Haptic Device [Seite 224]
10.4.1 - 5.4.1 Human Tactile Perception [Seite 225]
10.4.2 - 5.4.2 Haptic Texture Display Methods [Seite 225]
10.5 - References [Seite 228]
11 - Chapter 6 Virtual Simulation of Robot Control [Seite 239]
11.1 - 6.1 Overview of Robot Simulation [Seite 239]
11.2 - 6.2 3D Graphic Environment [Seite 241]
11.3 - 6.3 Virtual Reality?Based Robot Control [Seite 242]
11.3.1 - 6.3.1 Overview of Virtual Reality [Seite 242]
11.3.2 - 6.3.2 Overview of Teleoperation [Seite 243]
11.3.3 - 6.3.3 Virtual Reality?Based Teleoperation [Seite 245]
11.4 - 6.4 Augmented Reality?Based Teleoperation [Seite 247]
11.4.1 - 6.4.1 Overview of Augmented Reality [Seite 247]
11.4.2 - 6.4.2 Augmented Reality?Based Teleoperation [Seite 248]
11.5 - 6.5 Task Planning Methods in Virtual Environment [Seite 249]
11.5.1 - 6.5.1 Overview [Seite 249]
11.5.2 - 6.5.2 Interactive Graphic Mode [Seite 250]
11.6 - References [Seite 252]
12 - Index [Seite 261]
13 - EULA [Seite 269]
