Dynamics and robust control of robot-environment interaction (World Scientific Pub. Co., 2009)
Includes bibliographical references and index
1. Control of robots in contact tasks : a survey. 1.1. Introduction. 1.2. Contact Tasks. 1.3. Classification of constrained motion control concepts. 1.4. Model of the robot performing contact tasks. 1.5. Passive compliance methods. 1.6. Active compliant motion control methods. 1.7. Contact stability and transition. 1.8. Compliance planning. 1.9. Haptic systems control. 1.10. New robot application. 1.11. Conclusion -- 2. A unified approach to dynamic control of robots. 2.1. Introduction. 2.2. Dynamic environments. 2.3. Synthesis of control laws for the robot interacting with dynamic environment. 2.4. Analysis of transient processes. 2.5. Adaptive stabilization of motion and forces. 2.6. Position-force control -- a generalization. 2.7. Position-force control in Cartesian space. 2.8. New realization of hybrid control. 2.9. Impedance control -- a special case of the unified approach. 2.10. Stability of robots interacting with dynamic environments --
- 3. Impedance control. 3.1. Introduction. 3.2. Control objectives. 3.3. Impedance control scheme. 3.4. Impedance control synthesis. 3.5. Improved impedance control. 3.6. Typical impedance contact behavior. 3.7. Contact transition stability. 3.8. Contact stability conditions. 3.9. Influence of non-linear effects on contact-stability. 3.10. Evaluation of contact transition stability conditions. 3.11. Conclusion -- 4. Practical synthesis of impedance control. 4.1. Introduction. 4.2. Influence of the target parameters on the impedance control performance. 4.3. Selection of target impedance parameters -- impedance control design at lower control layer. 4.4. Synthesis of impedance control at higher layers. 4.5. Conclusion -- 5. Robust control of human-robot interaction in haptic systems. 5.1. Introduction. 5.2. Haptic system structures. 5.3. Haptic rendering. 5.4. Robust control of haptic systems interaction. 5.5. Conclusion --
- 6. Intelligent control techniques for robotic contact tasks. 6.1. Introduction. 6.2. The role of learning in intelligent control algorithms for compliant tasks. 6.3. A survey of intelligent control techniques for robotic contact tasks. 6.4. The synthesis of new connectionist learning control algorithms for robotic contact tasks. 6.5. Connectionist reactive control for robotic assembly tasks by soft sensored grippers. 6.6. Intelligent control of contact tasks in humanoid robotics. 6.7. Conclusion
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks. The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots