Force Control of Robotics Systems

Abstract

Force Information and its Use in Robotic Systems Use of Force Information: Objectives and Problems Force Measurement Use of Force Information in Control PART I. FORCE SENSORS Conceptual Designs of Force Sensors Fundamentals of Sensor Design Gripper Sensors Wrist Sensors Other Types of Force Sensor Basic Theory and Design Computation of Force Sensors Main Characteristics of Force Sensors Design Computations for Sensor Modular Elements Six-Component Sensors with a Bending Elastic Element Sensors with a Compressive-Tensile and Shear Elastic Element PART II. MATHEMATICAL MODELS AND CONTROL Research Robotic System Manipulator Design and Kinematics Control System End-Effectors and Sensors Control of Manipulator Contact With an Object Mathematical Model for One-Degree-of-Freedom Manipulator Motion Problem Statement for Keeping Contact with an Object Linear Control Switching Control Contact Transition Control Influence of Delay in Feedback Loop on the Stability of Contact Influence of Transmission Compliance on the Stability of Contact Influence of Manipulator Frame Compliance on the Stability of Contact Keeping Contact with a Moving Object Two-Degree-of-Freedom Manipulator Motion in Contact With an Object Mathematical Model for Two-Degree-of-Freedom Manipulator Motion Control Problem Statement Following a Linear Contour Following a Circular Contour Experiments in Contour Following Rotating a Steering Wheel Planar Two-Link Manipulator Control of Constraint Motion General Mathematical Model for a Manipulator With a Force Sensor Discussion on Equations of Motion. Simplified Model Control of Manipulator Motion Along Constraints Articulated Manipulator Motion in Contact with an Object Motion Along a Screw Constraint Opening a Hatch Lid Discrete-Time Manipulator Control Design Problems of Keeping Contact With a Stationary and Moving Object The Simplest Discrete-Time Model for One-Degree-of-Freedom Manipulator Motion Discrete-Time Model for Manipulator with Compliance in Gear Train Manipulator Model with a Compliant Base Discrete Control of Contact Transition Maintaining Contact Force with a Moving Object Control of Manipulator with Structural Compliance for a Moving Contact Point Experiments in Maintaining Contact Force for a Moving Contact Point PART III. APPLICATIONS Manipulator Control in Surface Machining Requirements for Grinding Tasks Grinding of a Stationary Part Grinding of a Part in the Manipulator Arm Experiments in Grinding Assembly Operations Inserting a Peg into a Hole Manipulator Control in a Peg-Hole Insertion Threaded Joint Assembly Manipulator Control in Threaded Joint Assembly Searching for Parts and Grasping Part Pickup Tasks One-by-One Pickup of Parts Using Electromagnetic Gripper Part Pickup Using Force Sensing Fingers References Index