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The Springer International Series in Engineering and Computer Science

Robot Force Control

Authors: Siciliano, Bruno, Villani, Luigi

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eBook $189.00
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  • ISBN 978-1-4615-4431-9
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Hardcover $249.99
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  • ISBN 978-0-7923-7733-7
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Softcover $249.99
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  • ISBN 978-1-4613-6995-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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.

Table of contents (5 chapters)

Buy this book

eBook $189.00
price for Mexico (gross)
  • ISBN 978-1-4615-4431-9
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $249.99
price for Mexico
  • ISBN 978-0-7923-7733-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $249.99
price for Mexico
  • ISBN 978-1-4613-6995-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Robot Force Control
Authors
Series Title
The Springer International Series in Engineering and Computer Science
Series Volume
540
Copyright
1999
Publisher
Springer US
Copyright Holder
Springer Science+Business Media New York
eBook ISBN
978-1-4615-4431-9
DOI
10.1007/978-1-4615-4431-9
Hardcover ISBN
978-0-7923-7733-7
Softcover ISBN
978-1-4613-6995-0
Series ISSN
0893-3405
Edition Number
1
Number of Pages
XIII, 146
Topics