Dynamics and control of robotic manipulators with contact and friction

Dynamics and control of robotic manipulators with contact and friction

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...

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Detalles Bibliográficos
Otros Autores: Liu, Shiping, 1971- author (author), Chen, Gang (Mechanical engineer), author
Formato: Libro electrónico
Idioma:Inglés
Publicado: Hoboken, NJ : Wiley 2019.
Edición:First edition
Materias:
Robots > Dynamics.
Manipulators (Mechanism) > Automatic control.
Tribology.
Ver en Biblioteca Universitat Ramon Llull:https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009630556006719
Tabla de Contenidos:
  • Cover
  • Title Page
  • Copyright
  • Contents
  • Preface
  • Chapter 1 Introduction
  • 1.1 Robot Joint Friction Modeling and Parameter Identification
  • 1.2 Contact Perception in Virtual Environment
  • 1.3 Organization of This Book
  • References
  • Chapter 2 Fundamentals of Robot Dynamics and Control
  • 2.1 Robot Kinematics
  • 2.1.1 Matrix Description of Robot Kinematics
  • 2.1.2 Homogeneous Transformation Matrices
  • 2.1.3 Forward Kinematics
  • 2.1.4 Inverse Kinematics
  • 2.1.5 Velocity Kinematics
  • 2.2 Robot Dynamics
  • 2.3 Robot Control
  • 2.3.1 Introduction
  • 2.3.2 Trajectory Control
  • 2.3.2.1 Point‐to‐Point Control
  • 2.3.2.2 Trajectories for Paths Specified by Points
  • 2.3.3 Interaction Control
  • 2.3.3.1 Impedance Control
  • 2.3.3.2 Hybrid Force‐Position Control
  • References
  • Chapter 3 Friction and Contact of Solid Interfaces
  • 3.1 Introduction
  • 3.2 Contact Between Two Solid Surfaces
  • 3.2.1 Description of Surfaces
  • 3.2.2 Contact Mechanics of Two Solid Surfaces
  • 3.3 Friction Between Two Solid Surfaces
  • 3.3.1 Adhesion
  • 3.3.2 Dry Friction
  • 3.3.2.1 Friction Mechanisms
  • 3.3.2.2 Friction Transitions and Wear
  • 3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence
  • 3.3.2.4 Effects of Environmental and Operational Condition on Friction
  • 3.3.3 Liquid Mediated Friction
  • 3.3.3.1 Stribeck Curve
  • 3.3.3.2 Unsteady Liquid‐Mediated Friction
  • 3.3.3.3 Negative Slope of Friction‐Velocity Curve
  • 3.3.4 Friction Models
  • References
  • Chapter 4 Friction Dynamics of Manipulators
  • 4.1 Friction Models of Robot Manipulator Joints
  • 4.2 Modeling Friction with Varied Effects
  • 4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction
  • 4.3.1 The General Motion Equation of Robot Manipulators
  • 4.3.2 The Motion Equation of Two‐Link Robot Manipulators.
  • 4.4 Nonlinear Dynamics and Chaos of Manipulators
  • 4.5 Parameters Identification
  • 4.5.1 Identification of Dynamic Parameters
  • 4.5.2 Identification of Parameters of Friction Models
  • 4.5.3 Uncertainty Analysis
  • 4.6 Friction Compensation and Control of Robot Manipulator Dynamics
  • References
  • Chapter 5 Force Feedback and Haptic Rendering
  • 5.1 Overview of Robot Force Feedback
  • 5.2 Generating Methods of Feedback Force
  • 5.2.1 Serial Mechanism
  • 5.2.1.1 Kinematics
  • 5.2.1.2 Inverse Kinematics
  • 5.2.1.3 Dynamics
  • 5.2.2 Parallel Mechanism
  • 5.2.2.1 Kinematics Model
  • 5.2.2.2 Forward Kinematics
  • 5.2.2.3 Inverse Kinematics
  • 5.2.2.4 Dynamics Based on Virtual Work
  • 5.2.3 Friction Compensation
  • 5.3 Calculation of Virtual Force
  • 5.3.1 Collision Detection
  • 5.3.1.1 The Construction of the Bounding Box
  • 5.3.1.2 Calculation of Distance between Bounding Boxes
  • 5.3.2 Calculating the Model of Virtual Force
  • 5.3.2.1 1‐DoF Interaction
  • 5.3.2.2 2‐DoF Interaction
  • 5.3.2.3 3‐DoF Interaction
  • 5.3.2.4 6‐DoF Interaction
  • 5.4 Haptic Display Based on Point Haptic Device
  • 5.4.1 Human Tactile Perception
  • 5.4.2 Haptic Texture Display Methods
  • References
  • Chapter 6 Virtual Simulation of Robot Control
  • 6.1 Overview of Robot Simulation
  • 6.2 3D Graphic Environment
  • 6.3 Virtual Reality−Based Robot Control
  • 6.3.1 Overview of Virtual Reality
  • 6.3.2 Overview of Teleoperation
  • 6.3.3 Virtual Reality−Based Teleoperation
  • 6.4 Augmented Reality−Based Teleoperation
  • 6.4.1 Overview of Augmented Reality
  • 6.4.2 Augmented Reality−Based Teleoperation
  • 6.5 Task Planning Methods in Virtual Environment
  • 6.5.1 Overview
  • 6.5.2 Interactive Graphic Mode
  • References
  • Index
  • EULA.

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