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.

A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanismDynamics 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 controlWritten 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.

Ch1 Introduction1.1 Friction modeling and parameter identification of robot joints1.2 Contact perception in virtual environment1.3 Organization of the BookReferencesCh2 Fundamentals of robot dynamics and control2.1 Robot kinematics2.1.1 Matrix description of robot kinematics2.1.2 Homogenous transformation matrices2.1.3 Forward kinematics2.1.4 Inverse kinematics2.1.5 Velocity kinematics2.2 Robot dynamics2.3 Robot control2.3.1 introduction2.3.2 Trajectory controlA. point to point controlB. Trajectories for Paths Specified by PointsC. Computed Torque Control2.3.3 Interaction controlA. Impedance ControlB. Hybrid Force-Position ControlReferencesCh 3. Friction and Contact of Solid Interfaces3.1 Introduction3.2 Contact Between Two Solid Surfaces3.2.1. Description of surfaces3.2.2 Contact Mechanics of Two Solid Surfaces3.3 Friction Between Two Solid Surfaces3.3.1 Adhesion3.3.2 Dry Friction3.3.2.1 Friction mechanisms3.3.2.2 Friction transitions and wear3.3.2.3 Static friction, hysteresis, time and displacement dependence3.3.2.4 Effects of environmental and operational condition on friction3.3.3 Liquid mediated friction3.3.3.1 Stribeck curve3.3.3.2 Unsteady Liquid-Mediated Friction3.3.3.3 Negative Slope of Friction-velocity Curve3.3.4 Friction ModelsReferencesCh 4 Friction Dynamics of Manipulator4.1 Friction models of robot manipulator joints4.2 Modeling friction with varied effects4.2.1 The General Motion Equation of Robot Manipulator4.2.2 The Motion Equation of Two-Link Robot Manipulator4.3 Nonlinear Dynamics and Chaos of Manipulators4.4 Parameters Identification4.4.1 Identification of dynamic parameters4.4.2 Identification of parameters of friction models4.4.3 Uncertainty Analysis4.5 Friction Compensation and Control of Robot Manipulator DynamicsReference5. Force feedback and haptic rendering5.1 Overview of robot force feedback5.2 Generating methods of feedback force5.2.1 Serial mechanismA. KinematicsB. Inverse KinematicsC. Dynamics5.2.2 Parallel mechanismA. Kinematics ModelB Forward kinematicsC Inverse kinematicsD Dynamics based on virtual work5.2.3 Friction compensation5.3 Calculation of virtual force5.3.1 Collision detectionA. The construction of the bounding boxB. Calculation of Distance between Bounding BoxesB1. Bounding box is a SphereB2 Bounding box is center axis based bounding box.5.3.2 Calculating model of virtual forceA. One-DOF interactionB. Two-DOF interactionC. Three-DOF interactionD. Six-DOF interaction5.4 Haptic display based on point haptic device5.4.1 Human tactile perception5.4.2 Haptic texture display methodsReferenceCh6 Virtual simulation of robot control6.1 Overview of robot simulation6.2 3D graphic environment6.3 Virtual reality based robot control6.3.1 Overview of Virtual reality6.3.2 Overview of teleoperation6.3.3 Virtual reality based teleoperation6.4 Augmented Reality based teleoperation.6.4.1 Overview of Augmented reality6.4.2 Augmented Reality based teleoperation6.5 Task planning in virtual environment6.5.1 Overview6.5.2 Interactive graphic modeReference