| Preface |
| Introduction / 1： |
| Robot Joint Friction Modeling and Parameter Identification / 1.1： |
| Contact Perception in Virtual Environment / 1.2： |
| Organization of This Book / 1.3： |
| References |
| Fundamentals of Robot Dynamics and Control / 2： |
| Robot Kinematics / 2.1： |
| Matrix Description of Robot Kinematics / 2.1.1： |
| Homogeneous Transformation Matrices / 2.1.2： |
| Forward Kinematics / 2.1.3： |
| Inverse Kinematics / 2.1.4： |
| Velocity Kinematics / 2.1.5： |
| Robot Dynamics / 2.2： |
| Robot Control / 2.3： |
| Trajectory Control / 2.3.1： |
| Point-to-point Control / 2.3.2.1： |
| Trajectories for Paths Specified by Points / 2.3.2.2： |
| Interaction Control / 2.3.3： |
| Impedance Control / 2.3.3.1： |
| Hybrid Force-Position Control 38 References / 2.3.3.2： |
| Friction and Contact of Solid Interfaces / 3： |
| Contact Between Two Solid Surfaces / 3.1： |
| Description of Surfaces / 3.2.1： |
| Contact Mechanics of Two Solid Surfaces / 3.2.2： |
| Friction Between Two Solid Surfaces / 3.3： |
| Adhesion / 3.3.1： |
| Dry Friction / 3.3.2： |
| Friction Mechanisms / 3.3.2.1： |
| Friction Transitions and Wear / 3.3.2.2： |
| Static Friction, Hysteresis, Time, and Displacement Dependence / 3.3.2.3： |
| Effects of Environmental and Operational Condition on Friction / 3.3.2.4： |
| Liquid Mediated Friction / 3.3.3： |
| Stribeck Curve / 3.3.3.1： |
| Unsteady Liquid-Mediated Friction / 3.3.3.2： |
| Negative Slope of Friction-Velocity Curve / 3.3.3.3： |
| Friction Models / 3.3.4： |
| Friction Dynamics of Manipulators / 4： |
| Friction Models of Robot Manipulator Joints / 4.1： |
| Modeling Friction with Varied Effects / 4.2： |
| The Motion Equations of Dynamics of Robot Manipulators with Friction / 4.3： |
| The General Motion Equation of Robot Manipulators / 4.3.1： |
| The Motion Equation of Two-Link Robot Manipulators / 4.3.2： |
| Nonlinear Dynamics and Chaos of Manipulators / 4.4： |
| Parameters Identification / 4.5： |
| Identification of Dynamic Parameters / 4.5.1： |
| Identification of Parameters of Friction Models / 4.5.2： |
| Uncertainty Analysis / 4.5.3： |
| Friction Compensation and Control of Robot Manipulator Dynamics / 4.6： |
| Force Feedback and Haptic Rendering / 5： |
| Overview of Robot Force Feedback / 5.1： |
| Generating Methods of Feedback Force / 5.2： |
| Serial Mechanism / 5.2.1： |
| Kinematics / 5.2.1.1： |
| Dynamics / 5.2.1.2： |
| Parallel Mechanism / 5.2.2： |
| Kinematics Model / 5.2.2.1： |
| Dynamics Based on Virtual Work / 5.2.2.2： |
| Friction Compensation / 5.2.3： |
| Calculation of Virtual Force / 5.3： |
| Collision Detection / 5.3.1： |
| The Construction of the Bounding Box / 5.3.1.1： |
| Calculation of Distance between Bounding Boxes / 5.3.1.2： |
| Calculating the Model of Virtual Force / 5.3.2： |
| 1-DoF Interaction / 5.3.2.1： |
| 2-DoF Interaction / 5.3.2.2： |
| 3-DoF Interaction / 5.3.2.3： |
| 6-DoF Interaction / 5.3.2.4： |
| Haptic Display Based on Point Haptic Device / 5.4： |
| Human Tactile Perception / 5.4.1： |
| Haptic Texture Display Methods / 5.4.2： |
| Virtual Simulation of Robot Control / 6： |
| Overview of Robot Simulation / 6.1： |
| 3D Graphic Environment / 6.2： |
| Virtual Reality-Based Robot Control / 6.3： |
| Overview of Virtual Reality / 6.3.1： |
| Overview of Teleoperation / 6.3.2： |
| Virtual Reality-Based Teleoperation / 6.3.3： |
| Augmented Reality-Based Tele operation / 6.4： |
| Overview of Augmented Reality / 6.4.1： |
| Augmented Reality-Based Teleoperation / 6.4.2： |
| Task Planning Methods in Virtual Environment / 6.5： |
| Overview / 6.5.1： |
| Interactive Graphic Mode / 6.5.2： |
| Index |
| Preface |
| Introduction / 1： |
| Robot Joint Friction Modeling and Parameter Identification / 1.1： |
図書
