Force Control of Robotics Systems: 1st Edition (Hardback) book cover

Force Control of Robotics Systems

1st Edition

By Dimitry Gorinevsky, Alexander Formalsky, Anatoli Schneider

CRC Press

368 pages

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Hardback: 9780849326714
pub: 1997-07-23
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Description

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

Subject Categories

BISAC Subject Codes/Headings:
TEC007000
TECHNOLOGY & ENGINEERING / Electrical
TEC009060
TECHNOLOGY & ENGINEERING / Industrial Engineering
TEC009070
TECHNOLOGY & ENGINEERING / Mechanical