Dynamics and Control of Robotic Manipulators with Contact and Friction (eBook)

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.

Ch1 Introduction

1.1 Friction modeling and parameter identification of robot joints

1.2 Contact perception in virtual environment

1.3 Organization of the Book

References

Ch2 Fundamentals of robot dynamics and control

2.1 Robot kinematics

2.1.1 Matrix description of robot kinematics

2.1.2 Homogenous 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

A. point to point control

B. Trajectories for Paths Specified by Points

C. Computed Torque Control

2.3.3 Interaction control

A. Impedance Control

B. Hybrid Force-Position Control

References

Ch 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

Ch 4 Friction Dynamics of Manipulator

4.1 Friction models of robot manipulator joints

4.2 Modeling friction with varied effects

4.2.1 The General Motion Equation of Robot Manipulator

4.2.2 The Motion Equation of Two-Link Robot Manipulator

4.3 Nonlinear Dynamics and Chaos of Manipulators

4.4 Parameters Identification

4.4.1 Identification of dynamic parameters

4.4.2 Identification of parameters of friction models

4.4.3 Uncertainty Analysis

4.5 Friction Compensation and Control of Robot Manipulator Dynamics

Reference

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

A. Kinematics

B. Inverse Kinematics

C. Dynamics

5.2.2 Parallel mechanism

A. Kinematics Model

B Forward kinematics

C Inverse kinematics

D Dynamics based on virtual work

5.2.3 Friction compensation

5.3 Calculation of virtual force

5.3.1 Collision detection

A. The construction of the bounding box

B. Calculation of Distance between Bounding Boxes

B1. Bounding box is a Sphere

B2 Bounding box is center axis based bounding box.

5.3.2 Calculating model of virtual force

A. One-DOF interaction

B. Two-DOF interaction

C. Three-DOF interaction

D. Six-DOF interaction

5.4 Haptic display based on point haptic device

5.4.1 Human tactile perception

5.4.2 Haptic texture display methods

Reference

Ch6 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 in virtual environment

6.5.1 Overview

6.5.2 Interactive graphic mode

Reference