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: |