Dynamics and control of robotic manipulators with contact and friction / Shiping Liu, Gang (Sheng) Chen.

Format:

Book

Author/Creator:

Liu, Shiping, 1971- author.

Chen, Gang (Mechanical engineer), author.

Language:

English

Subjects (All):

Robots--Dynamics.

Robots.

Manipulators (Mechanism)--Automatic control.

Manipulators (Mechanism).

Tribology.

Physical Description:

1 online resource (255 pages)

Edition:

First edition.

Place of Publication:

Hoboken, NJ : Wiley, 2019.

System Details:

text file

Summary:

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.

Contents:

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

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

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

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

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

Index

EULA.

Notes:

Includes bibliographical references and index.

Description based on print version record.

ISBN:

9781119422501

1119422507

9781119422518

1119422515

9781119422495

1119422493

OCLC:

1049575593