{"product_id":"dynamics-and-control-of-robotic-manipulators-with-contact-and-friction-isbn-9781119422488","title":"Dynamics and Control of Robotic Manipulators with Contact and Friction","description":"\u003cp\u003e\u003cb\u003eA comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003ci\u003eDynamics and Control of Robotic Manipulators with Contact and Friction\u003c\/i\u003e 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. \u003c\/p\u003e \u003cp\u003eDesigned 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:\u003c\/p\u003e \u003cul\u003e \u003cli\u003eOffers a comprehensive reference with systematic treatment and a unified framework\u003c\/li\u003e \u003cli\u003eIncludes simulation and experiments used in dynamics and control of robot considering contact, impact and friction\u003c\/li\u003e \u003cli\u003eDiscusses the most current tribology methodology used to treat the multiple–scale effects\u003c\/li\u003e \u003cli\u003eContains valuable descriptions of experiments and software used\u003c\/li\u003e \u003cli\u003ePresents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits\u003c\/li\u003e \u003cli\u003eOffers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control\u003c\/li\u003e \u003c\/ul\u003e \u003cp\u003eWritten for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, \u003ci\u003eDynamics and Control of Robotic Manipulators with Contact and Friction\u003c\/i\u003e offers a review to effective design and fabrication of stable and durable robot system and components.  \u003c\/p\u003e \u003cp\u003e Preface ix\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Introduction 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Robot Joint Friction Modeling and Parameter Identification 1\u003c\/p\u003e \u003cp\u003e1.2 Contact Perception in Virtual Environment 2\u003c\/p\u003e \u003cp\u003e1.3 Organization ofThis Book 3\u003c\/p\u003e \u003cp\u003eReferences 4\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Fundamentals of Robot Dynamics and Control 9\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Robot Kinematics 9\u003c\/p\u003e \u003cp\u003e2.1.1 Matrix Description of Robot Kinematics 9\u003c\/p\u003e \u003cp\u003e2.1.2 Homogeneous Transformation Matrices 12\u003c\/p\u003e \u003cp\u003e2.1.3 Forward Kinematics 14\u003c\/p\u003e \u003cp\u003e2.1.4 Inverse Kinematics 24\u003c\/p\u003e \u003cp\u003e2.1.5 Velocity Kinematics 29\u003c\/p\u003e \u003cp\u003e2.2 Robot Dynamics 30\u003c\/p\u003e \u003cp\u003e2.3 Robot Control 31\u003c\/p\u003e \u003cp\u003e2.3.1 Introduction 31\u003c\/p\u003e \u003cp\u003e2.3.2 Trajectory Control 31\u003c\/p\u003e \u003cp\u003e2.3.2.1 Point-to-Point Control 32\u003c\/p\u003e \u003cp\u003e2.3.2.2 Trajectories for Paths Specified by Points 33\u003c\/p\u003e \u003cp\u003e2.3.3 Interaction Control 38\u003c\/p\u003e \u003cp\u003e2.3.3.1 Impedance Control 38\u003c\/p\u003e \u003cp\u003e2.3.3.2 Hybrid Force-Position Control 38\u003c\/p\u003e \u003cp\u003eReferences 39\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Friction and Contact of Solid Interfaces 45\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 45\u003c\/p\u003e \u003cp\u003e3.2 Contact Between Two Solid Surfaces 46\u003c\/p\u003e \u003cp\u003e3.2.1 Description of Surfaces 46\u003c\/p\u003e \u003cp\u003e3.2.2 Contact Mechanics of Two Solid Surfaces 48\u003c\/p\u003e \u003cp\u003e3.3 Friction Between Two Solid Surfaces 55\u003c\/p\u003e \u003cp\u003e3.3.1 Adhesion 55\u003c\/p\u003e \u003cp\u003e3.3.2 Dry Friction 65\u003c\/p\u003e \u003cp\u003e3.3.2.1 Friction Mechanisms 65\u003c\/p\u003e \u003cp\u003e3.3.2.2 Friction Transitions andWear 75\u003c\/p\u003e \u003cp\u003e3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence 78\u003c\/p\u003e \u003cp\u003e3.3.2.4 Effects of Environmental and Operational Condition on Friction 80\u003c\/p\u003e \u003cp\u003e3.3.3 Liquid Mediated Friction 81\u003c\/p\u003e \u003cp\u003e3.3.3.1 Stribeck Curve 81\u003c\/p\u003e \u003cp\u003e3.3.3.2 Unsteady Liquid-Mediated Friction 84\u003c\/p\u003e \u003cp\u003e3.3.3.3 Negative Slope of Friction-Velocity Curve 87\u003c\/p\u003e \u003cp\u003e3.3.4 Friction Models 87\u003c\/p\u003e \u003cp\u003eReferences 99\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Friction Dynamics of Manipulators 115\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Friction Models of Robot Manipulator Joints 115\u003c\/p\u003e \u003cp\u003e4.2 Modeling Friction with Varied Effects 119\u003c\/p\u003e \u003cp\u003e4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction 123\u003c\/p\u003e \u003cp\u003e4.3.1 The General Motion Equation of Robot Manipulators 123\u003c\/p\u003e \u003cp\u003e4.3.2 The Motion Equation of Two-Link Robot Manipulators 130\u003c\/p\u003e \u003cp\u003e4.4 Nonlinear Dynamics and Chaos of Manipulators 132\u003c\/p\u003e \u003cp\u003e4.5 Parameters Identification 142\u003c\/p\u003e \u003cp\u003e4.5.1 Identification of Dynamic Parameters 142\u003c\/p\u003e \u003cp\u003e4.5.2 Identification of Parameters of Friction Models 146\u003c\/p\u003e \u003cp\u003e4.5.3 Uncertainty Analysis 151\u003c\/p\u003e \u003cp\u003e4.6 Friction Compensation and Control of Robot Manipulator Dynamics 153\u003c\/p\u003e \u003cp\u003eReferences 158\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Force Feedback and Haptic Rendering 175\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Overview of Robot Force Feedback 175\u003c\/p\u003e \u003cp\u003e5.2 GeneratingMethods of Feedback Force 177\u003c\/p\u003e \u003cp\u003e5.2.1 SerialMechanism 178\u003c\/p\u003e \u003cp\u003e5.2.1.1 Kinematics 178\u003c\/p\u003e \u003cp\u003e5.2.1.2 Inverse Kinematics 179\u003c\/p\u003e \u003cp\u003e5.2.1.3 Dynamics 181\u003c\/p\u003e \u003cp\u003e5.2.2 Parallel Mechanism 182\u003c\/p\u003e \u003cp\u003e5.2.2.1 KinematicsModel 182\u003c\/p\u003e \u003cp\u003e5.2.2.2 Forward Kinematics 185\u003c\/p\u003e \u003cp\u003e5.2.2.3 Inverse Kinematics 188\u003c\/p\u003e \u003cp\u003e5.2.2.4 Dynamics Based on VirtualWork 190\u003c\/p\u003e \u003cp\u003e5.2.3 Friction Compensation 194\u003c\/p\u003e \u003cp\u003e5.3 Calculation of Virtual Force 197\u003c\/p\u003e \u003cp\u003e5.3.1 Collision Detection 197\u003c\/p\u003e \u003cp\u003e5.3.1.1 The Construction of the Bounding Box 199\u003c\/p\u003e \u003cp\u003e5.3.1.2 Calculation of Distance between Bounding Boxes 202\u003c\/p\u003e \u003cp\u003e5.3.2 Calculating the Model of Virtual Force 206\u003c\/p\u003e \u003cp\u003e5.3.2.1 1-DoF Interaction 206\u003c\/p\u003e \u003cp\u003e5.3.2.2 2-DoF Interaction 207\u003c\/p\u003e \u003cp\u003e5.3.2.3 3-DoF Interaction 208\u003c\/p\u003e \u003cp\u003e5.3.2.4 6-DoF Interaction 210\u003c\/p\u003e \u003cp\u003e5.4 Haptic Display Based on Point Haptic Device 210\u003c\/p\u003e \u003cp\u003e5.4.1 Human Tactile Perception 211\u003c\/p\u003e \u003cp\u003e5.4.2 Haptic Texture DisplayMethods 211\u003c\/p\u003e \u003cp\u003eReferences 214\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Virtual Simulation of Robot Control 225\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Overview of Robot Simulation 225\u003c\/p\u003e \u003cp\u003e6.2 3D Graphic Environment 227\u003c\/p\u003e \u003cp\u003e6.3 Virtual Reality−Based Robot Control 228\u003c\/p\u003e \u003cp\u003e6.3.1 Overview of Virtual Reality 228\u003c\/p\u003e \u003cp\u003e6.3.2 Overview of Teleoperation 229\u003c\/p\u003e \u003cp\u003e6.3.3 Virtual Reality−Based Teleoperation 231\u003c\/p\u003e \u003cp\u003e6.4 Augmented Reality−Based Teleoperation 233\u003c\/p\u003e \u003cp\u003e6.4.1 Overview of Augmented Reality 233\u003c\/p\u003e \u003cp\u003e6.4.2 Augmented Reality−Based Teleoperation 234\u003c\/p\u003e \u003cp\u003e6.5 Task PlanningMethods in Virtual Environment 235\u003c\/p\u003e \u003cp\u003e6.5.1 Overview 235\u003c\/p\u003e \u003cp\u003e6.5.2 Interactive Graphic Mode 236\u003c\/p\u003e \u003cp\u003eReferences 238\u003c\/p\u003e \u003cp\u003eIndex 247\u003c\/p\u003e  \u003cp\u003e\u003cb\u003eDR. SHIPING LIU\u003c\/b\u003e is an Associate Professor in School of Mechanical Engineering \u0026amp; Science, Huazhong University of Science and Technology in Wuhan, Hubei, China. \u003c\/p\u003e\u003cp\u003e\u003cb\u003eDR. GANG (SHENG)\u003c\/b\u003e \u003cb\u003eCHEN\u003c\/b\u003e is a Professor in College of Information Technology and Engineering, Marshall University, Huntington, WV, USA.  \t \u003c\/p\u003e\u003cp\u003e\u003cb\u003eA Comprehensive Guide to the Friction, Contact and Impact on Robot Control and Force Feedback Mechanism\u003c\/b\u003e \u003c\/p\u003e\u003cp\u003e\u003ci\u003eDynamics and Control of Robotic Manipulators with Contact and Friction\u003c\/i\u003e 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. \u003c\/p\u003e\u003cp\u003eDesigned 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: \u003c\/p\u003e\u003cul\u003e \u003cli\u003eOffers a comprehensive reference with systematic treatment and a unified framework\u003c\/li\u003e \u003cli\u003eIncludes simulation and experiments used in dynamics and control of robot considering contact, impact and friction\u003c\/li\u003e \u003cli\u003eDiscusses the most current tribology methodology used to treat the multiple-scale effects\u003c\/li\u003e \u003cli\u003eContains valuable descriptions of experiments and software used\u003c\/li\u003e \u003cli\u003ePresents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits\u003c\/li\u003e \u003cli\u003eOffers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control\u003c\/li\u003e \u003c\/ul\u003e \u003cp\u003eWritten for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, \u003ci\u003eDynamics and Control of Robotic Manipulators with Contact and Friction\u003c\/i\u003e offers a review to effective design and fabrication of stable and durable robot system and components.\u003c\/p\u003e","brand":"Wiley","offers":[{"title":"Default Title","offer_id":47989092221157,"sku":"NP9781119422488","price":145.95,"currency_code":"USD","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/1842\/7735\/files\/9781119422488.jpg?v=1761782762","url":"https:\/\/k12savings.com\/es\/products\/dynamics-and-control-of-robotic-manipulators-with-contact-and-friction-isbn-9781119422488","provider":"K12savings","version":"1.0","type":"link"}