Details

Dynamics and Control of Robotic Manipulators with Contact and Friction


Dynamics and Control of Robotic Manipulators with Contact and Friction


1. Aufl.

von: Shiping Liu, Gang S. Chen

106,99 €

Verlag: Wiley
Format: PDF
Veröffentl.: 29.10.2018
ISBN/EAN: 9781119422495
Sprache: englisch
Anzahl Seiten: 272

DRM-geschütztes eBook, Sie benötigen z.B. Adobe Digital Editions und eine Adobe ID zum Lesen.

Beschreibungen

<p><b>A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism</b></p> <p><i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> 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. </p> <p>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:</p> <ul> <li>Offers a comprehensive reference with systematic treatment and a unified framework</li> <li>Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction</li> <li>Discusses the most current tribology methodology used to treat the multiple–scale effects</li> <li>Contains valuable descriptions of experiments and software used</li> <li>Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits</li> <li>Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control</li> </ul> <p>Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, <i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> offers a review to effective design and fabrication of stable and durable robot system and components.  </p>
<p> Preface ix</p> <p><b>1 Introduction 1</b></p> <p>1.1 Robot Joint Friction Modeling and Parameter Identification 1</p> <p>1.2 Contact Perception in Virtual Environment 2</p> <p>1.3 Organization ofThis Book 3</p> <p>References 4</p> <p><b>2 Fundamentals of Robot Dynamics and Control 9</b></p> <p>2.1 Robot Kinematics 9</p> <p>2.1.1 Matrix Description of Robot Kinematics 9</p> <p>2.1.2 Homogeneous Transformation Matrices 12</p> <p>2.1.3 Forward Kinematics 14</p> <p>2.1.4 Inverse Kinematics 24</p> <p>2.1.5 Velocity Kinematics 29</p> <p>2.2 Robot Dynamics 30</p> <p>2.3 Robot Control 31</p> <p>2.3.1 Introduction 31</p> <p>2.3.2 Trajectory Control 31</p> <p>2.3.2.1 Point-to-Point Control 32</p> <p>2.3.2.2 Trajectories for Paths Specified by Points 33</p> <p>2.3.3 Interaction Control 38</p> <p>2.3.3.1 Impedance Control 38</p> <p>2.3.3.2 Hybrid Force-Position Control 38</p> <p>References 39</p> <p><b>3 Friction and Contact of Solid Interfaces 45</b></p> <p>3.1 Introduction 45</p> <p>3.2 Contact Between Two Solid Surfaces 46</p> <p>3.2.1 Description of Surfaces 46</p> <p>3.2.2 Contact Mechanics of Two Solid Surfaces 48</p> <p>3.3 Friction Between Two Solid Surfaces 55</p> <p>3.3.1 Adhesion 55</p> <p>3.3.2 Dry Friction 65</p> <p>3.3.2.1 Friction Mechanisms 65</p> <p>3.3.2.2 Friction Transitions andWear 75</p> <p>3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence 78</p> <p>3.3.2.4 Effects of Environmental and Operational Condition on Friction 80</p> <p>3.3.3 Liquid Mediated Friction 81</p> <p>3.3.3.1 Stribeck Curve 81</p> <p>3.3.3.2 Unsteady Liquid-Mediated Friction 84</p> <p>3.3.3.3 Negative Slope of Friction-Velocity Curve 87</p> <p>3.3.4 Friction Models 87</p> <p>References 99</p> <p><b>4 Friction Dynamics of Manipulators 115</b></p> <p>4.1 Friction Models of Robot Manipulator Joints 115</p> <p>4.2 Modeling Friction with Varied Effects 119</p> <p>4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction 123</p> <p>4.3.1 The General Motion Equation of Robot Manipulators 123</p> <p>4.3.2 The Motion Equation of Two-Link Robot Manipulators 130</p> <p>4.4 Nonlinear Dynamics and Chaos of Manipulators 132</p> <p>4.5 Parameters Identification 142</p> <p>4.5.1 Identification of Dynamic Parameters 142</p> <p>4.5.2 Identification of Parameters of Friction Models 146</p> <p>4.5.3 Uncertainty Analysis 151</p> <p>4.6 Friction Compensation and Control of Robot Manipulator Dynamics 153</p> <p>References 158</p> <p><b>5 Force Feedback and Haptic Rendering 175</b></p> <p>5.1 Overview of Robot Force Feedback 175</p> <p>5.2 GeneratingMethods of Feedback Force 177</p> <p>5.2.1 SerialMechanism 178</p> <p>5.2.1.1 Kinematics 178</p> <p>5.2.1.2 Inverse Kinematics 179</p> <p>5.2.1.3 Dynamics 181</p> <p>5.2.2 Parallel Mechanism 182</p> <p>5.2.2.1 KinematicsModel 182</p> <p>5.2.2.2 Forward Kinematics 185</p> <p>5.2.2.3 Inverse Kinematics 188</p> <p>5.2.2.4 Dynamics Based on VirtualWork 190</p> <p>5.2.3 Friction Compensation 194</p> <p>5.3 Calculation of Virtual Force 197</p> <p>5.3.1 Collision Detection 197</p> <p>5.3.1.1 The Construction of the Bounding Box 199</p> <p>5.3.1.2 Calculation of Distance between Bounding Boxes 202</p> <p>5.3.2 Calculating the Model of Virtual Force 206</p> <p>5.3.2.1 1-DoF Interaction 206</p> <p>5.3.2.2 2-DoF Interaction 207</p> <p>5.3.2.3 3-DoF Interaction 208</p> <p>5.3.2.4 6-DoF Interaction 210</p> <p>5.4 Haptic Display Based on Point Haptic Device 210</p> <p>5.4.1 Human Tactile Perception 211</p> <p>5.4.2 Haptic Texture DisplayMethods 211</p> <p>References 214</p> <p><b>6 Virtual Simulation of Robot Control 225</b></p> <p>6.1 Overview of Robot Simulation 225</p> <p>6.2 3D Graphic Environment 227</p> <p>6.3 Virtual Reality−Based Robot Control 228</p> <p>6.3.1 Overview of Virtual Reality 228</p> <p>6.3.2 Overview of Teleoperation 229</p> <p>6.3.3 Virtual Reality−Based Teleoperation 231</p> <p>6.4 Augmented Reality−Based Teleoperation 233</p> <p>6.4.1 Overview of Augmented Reality 233</p> <p>6.4.2 Augmented Reality−Based Teleoperation 234</p> <p>6.5 Task PlanningMethods in Virtual Environment 235</p> <p>6.5.1 Overview 235</p> <p>6.5.2 Interactive Graphic Mode 236</p> <p>References 238</p> <p>Index 247</p>
<p><b>DR. SHIPING LIU</b> is an Associate Professor in School of Mechanical Engineering & Science, Huazhong University of Science and Technology in Wuhan, Hubei, China. <p><b>DR. GANG (SHENG)</b> <b>CHEN</b> is a Professor in College of Information Technology and Engineering, Marshall University, Huntington, WV, USA.
<p><b>A Comprehensive Guide to the Friction, Contact and Impact on Robot Control and Force Feedback Mechanism</b> <p><i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> 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. <p>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: <ul> <li>Offers a comprehensive reference with systematic treatment and a unified framework</li> <li>Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction</li> <li>Discusses the most current tribology methodology used to treat the multiple-scale effects</li> <li>Contains valuable descriptions of experiments and software used</li> <li>Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits</li> <li>Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control</li> </ul> <p>Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, <i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> offers a review to effective design and fabrication of stable and durable robot system and components.

Diese Produkte könnten Sie auch interessieren:

Strategies to the Prediction, Mitigation and Management of Product Obsolescence
Strategies to the Prediction, Mitigation and Management of Product Obsolescence
von: Bjoern Bartels, Ulrich Ermel, Peter Sandborn, Michael G. Pecht
PDF ebook
116,99 €