Table of Contents

1. Introduction.- 1. Motion control vs. interaction control.- 2. Indirect vs. direct force control.- 3. Experimental apparatus.- 2. Motion Control.- 1. Modeling.- 2. Tracking control.- 3. Regulation.- 4. Further reading.- 3. Indirect Force Control.- 1. Compliance control.- 2. Impedance control.- 3. Six-DOF impedance control.- 4. Further reading.- 4. Direct Force Control.- 1. Force regulation.- 2. Force and motion control.- 3. Force tracking.- 4. Further reading.- 5. Advanced Force and Position Control.- 1. Task space dynamics.- 2. Adaptive control.- 3. Output feedback control.- 4. Further reading.- Appendices.- A — Rigid Body Orientation.- 1. Rotation matrix.- 2. Euler angles.- 3. Angle/axis.- 4. Quaternion.- B — Models of Robot Manipulators.- 1. Kinematic models.- 1.1 Six-joint manipulator.- 1.2 Seven-joint manipulator.- 2. Dynamic models.- 2.1 Six-joint manipulator.- 2.2 Seven-joint manipulator.- References.

Promotional Information

Springer Book Archives