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E-raamat: Dynamics and Control of Robotic Manipulators with Contact and Friction

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  • Formaat: EPUB+DRM
  • Ilmumisaeg: 15-Nov-2018
  • Kirjastus: John Wiley & Sons Inc
  • Keel: eng
  • ISBN-13: 9781119422501
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Dynamics and Control of Robotic Manipulators with Contact and FrictionSuurem pilt
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 15-Nov-2018
  • Kirjastus: John Wiley & Sons Inc
  • Keel: eng
  • ISBN-13: 9781119422501
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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.  

Preface ix
1 Introduction
1(8)
1.1 Robot Joint Friction Modeling and Parameter Identification
1(1)
1.2 Contact Perception in Virtual Environment
2(1)
1.3 Organization of This Book
3(6)
References
4(5)
2 Fundamentals of Robot Dynamics and Control
9(36)
2.1 Robot Kinematics
9(15)
2.1.1 Matrix Description of Robot Kinematics
9(3)
2.1.2 Homogeneous Transformation Matrices
12(2)
2.1.3 Forward Kinematics
14(10)
2.1 A Inverse Kinematics
24(6)
2.1.5 Velocity Kinematics
29(1)
2.2 Robot Dynamics
30(1)
2.3 Robot Control
31(14)
2.3.1 Introduction
31(1)
2.3.2 Trajectory Control
31(1)
2.3.2.1 Point-to-Point Control
32(1)
2.3.2.2 Trajectories for Paths Specified by Points
33(5)
2.3.3 Interaction Control
38(1)
2.3.3.1 Impedance Control
38(1)
2.3.3.2 Hybrid Force-Position Control
38(1)
References
39(6)
3 Friction and Contact of Solid Interfaces
45(70)
3.1 Introduction
45(1)
3.2 Contact Between Two Solid Surfaces
46(9)
3.2.1 Description of Surfaces
46(2)
3.2.2 Contact Mechanics of Two Solid Surfaces
48(7)
3.3 Friction Between Two Solid Surfaces
55(60)
3.3.1 Adhesion
55(10)
3.3.2 Dry Friction
65(1)
3.3.2.1 Friction Mechanisms
65(10)
3.3.2.2 Friction Transitions and Wear
75(3)
3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence
78(2)
3.3.2.4 Effects of Environmental and Operational Condition on Friction
80(1)
3.3.3 Liquid Mediated Friction
81(1)
3.3.3.1 Stribeck Curve
81(3)
3.3.3.2 Unsteady Liquid-Mediated Friction
84(3)
3.3.3.3 Negative Slope of Friction-Velocity Curve
87(1)
3.3.4 Friction Models
87(12)
References
99(16)
4 Friction Dynamics of Manipulators
115(60)
4.1 Friction Models of Robot Manipulator Joints
115(4)
4.2 Modeling Friction with Varied Effects
119(4)
4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction
123(9)
4.3.1 The General Motion Equation of Robot Manipulators
123(7)
4.3.2 The Motion Equation of Two-Link Robot Manipulators
130(2)
4.4 Nonlinear Dynamics and Chaos of Manipulators
132(10)
4.5 Parameters Identification
142(11)
4.5.1 Identification of Dynamic Parameters
142(4)
4.5.2 Identification of Parameters of Friction Models
146(5)
4.5.3 Uncertainty Analysis
151(2)
4.6 Friction Compensation and Control of Robot Manipulator Dynamics
153(22)
References
158(17)
5 Force Feedback and Haptic Rendering
175(50)
5.1 Overview of Robot Force Feedback
175(2)
5.2 Generating Methods of Feedback Force
177(20)
5.2.1 Serial Mechanism
178(1)
5.2.1.1 Kinematics
178(1)
5.2.1.2 Inverse Kinematics
179(2)
5.2.1.3 Dynamics
181(1)
5.2.2 Parallel Mechanism
182(1)
5.2.2.1 Kinematics Model
182(3)
5.2.2.2 Forward Kinematics
185(3)
5.2.2.3 Inverse Kinematics
188(2)
5.2.2.4 Dynamics Based on Virtual Work
190(4)
5.2.3 Friction Compensation
194(3)
5.3 Calculation of Virtual Force
197(13)
5.3.1 Collision Detection
197(2)
5.3.1.1 The Construction of the Bounding Box
199(3)
5.3.1.2 Calculation of Distance between Bounding Boxes
202(4)
5.3.2 Calculating the Model of Virtual Force
206(1)
5.3.2.1 1-DoF Interaction
206(1)
5.3.2.2 2-DoF Interaction
207(1)
5.3.2.3 3-DoF Interaction
208(2)
5.3.2.4 6-DoF Interaction
210(1)
5.4 Haptic Display Based on Point Haptic Device
210(15)
5.4.1 Human Tactile Perception
211(1)
5.4.2 Haptic Texture Display Methods
211(3)
References
214(11)
6 Virtual Simulation of Robot Control
225(22)
6.1 Overview of Robot Simulation
225(2)
6.2 3D Graphic Environment
227(1)
6.3 Virtual Reality-Based Robot Control
228(5)
6.3.1 Overview of Virtual Reality
228(1)
6.3.2 Overview of Teleoperation
229(2)
6.3.3 Virtual Reality-Based Teleoperation
231(2)
6.4 Augmented Reality-Based Teleoperation
233(2)
6.4.1 Overview of Augmented Reality
233(1)
6.4.2 Augmented Reality-Based Teleoperation
234(1)
6.5 Task Planning Methods in Virtual Environment
235(12)
6.5.1 Overview
235(1)
6.5.2 Interactive Graphic Mode
236(2)
References
238(9)
Index 247
DR. SHIPING LIU is an Associate Professor in School of Mechanical Engineering & Science, Huazhong University of Science and Technology in Wuhan, Hubei, China.

DR. GANG (SHENG) CHEN is a Professor in College of Information Technology and Engineering, Marshall University, Huntington, WV, USA.
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