Dynamics and Control of Robotic Manipulators with Contact and Friction

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ISBN: 9781119422488 Category:

<p><b>A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism</b></p> <p><i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. </p> <p>Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide:</p> <ul> <li>Offers a comprehensive reference with systematic treatment and a unified framework</li> <li>Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction</li> <li>Discusses the most current tribology methodology used to treat the multiple–scale effects</li> <li>Contains valuable descriptions of experiments and software used</li> <li>Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits</li> <li>Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control</li> </ul> <p>Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, <i>Dynamics and Control of Robotic Manipulators with Contact and Friction</i> offers a review to effective design and fabrication of stable and durable robot system and components.  </p>

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