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Robot Force Control by Luigi Villani, Bruno Siciliano (Paperback, 2013)

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About this product

Product Information

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.

Product Identifiers

PublisherSpringer-Verlag New York Inc.

ISBN-139781461369950

eBay Product ID (ePID)208800459

Product Key Features

Number of Pages146 Pages

LanguageEnglish

Publication NameRobot Force Control

Publication Year2013

SubjectEngineering & Technology, Computer Science

TypeTextbook

AuthorLuigi Villani, Bruno Siciliano

Subject AreaMaterial Science, Mechanical Engineering

FormatPaperback

Dimensions

Item Height235 mm

Item Weight260 g

Item Width155 mm

Volume540

Additional Product Features

Country/Region of ManufactureUnited States

Title_AuthorLuigi Villani, Bruno Siciliano

Series TitleThe Springer International Series in Engineering and Computer Science