Robot Force Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Force Control write by Bruno Siciliano. This book was released on 2012-12-06. Robot Force Control available in PDF, EPUB and Kindle. One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Modern Robotics
Modern Robotics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modern Robotics write by Kevin M. Lynch. This book was released on 2017-05-25. Modern Robotics available in PDF, EPUB and Kindle. A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Force Control of Robotics Systems
Force Control of Robotics Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Force Control of Robotics Systems write by Dimitry M. Gorinevsky, Alexander M. Formalsky, Anatoly YU. Schneider. This book was released on 1997-07-23. Force Control of Robotics Systems available in PDF, EPUB and Kindle. Force Control of Robotics Systems is the first book that focuses on the fundamentals of this complex topic. Written to engage in force control research, this timely volume presents original results, some of which previously have not been readily accessible to Western Audiences. Issues covered include force sensor design, force feedback synthesis, closed-loop dynamics, and more. The theoretical analysis 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 are experimentally verified and emphasize practical applications.
Learning for Adaptive and Reactive Robot Control
Learning for Adaptive and Reactive Robot Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Learning for Adaptive and Reactive Robot Control write by Aude Billard. This book was released on 2022-02-08. Learning for Adaptive and Reactive Robot Control available in PDF, EPUB and Kindle. Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Robot Analysis and Control
Robot Analysis and Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Analysis and Control write by H. Asada. This book was released on 1991-01-16. Robot Analysis and Control available in PDF, EPUB and Kindle. Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
