Keywords
Citation
(2003), "Interaction Control of Robot Manipulators: Six-Degree-of-Freedom Tasks", Industrial Robot, Vol. 30 No. 6. https://doi.org/10.1108/ir.2003.04930fae.001
Publisher
:Emerald Group Publishing Limited
Copyright © 2003, MCB UP Limited
Interaction Control of Robot Manipulators: Six-Degree-of-Freedom Tasks
Interaction Control of Robot Manipulators: Six-Degree-of-Freedom Tasks
Keywords: Robots, Manipulators, Control
C. NataloSpringer2003 108 pp. ISBN 3-540-00159-X£28.00 Hardback
"Interaction Control of Robot Manipulators" is the third addition to the Springer Tracts in Advanced Robotics (STAR). The series provides timely, multidisciplinary coverage of advances in robotics research.
Chapter 1 introduces the problem of controlling a robot manipulator which performs six-degree-of-freedom tasks. It presents task space motion control and task space interaction control, along with a brief description of the experimental setup in the PRISMA laboratory. Chapter 2, Task Space Motion Control, discusses modelling the system to be controlled, resolved acceleration control, a comparison of different control problems, and experimental validation of the algorithms presented.
Indirect force control, the impedance equation in the operational space, the impedance equation in the task space, the impedance control law, and redundant manipulators, are amongst the subjects addressed in chapter 3, Task Space Impedance Control.
Task Space Force Control, and Applications to a Dual-Robot System are presented in chapters 4 and 5, respectively. Subjects discussed include: direct force control, task space parallel control, cooperative manipulation, and loose and tight cooperative control.
The final chapter of the book provides Conclusions and Future Research Directions. The two appendices provide the necessary background on the representation of rigid body orientation in the Cartesian space, and real-time implementation notes for the interaction control algorithms tested on the experimental system.
Overall, this is a well written and informative reference text. It is suitable for students on advanced robotics courses, and for academics and researchers involved in robotic force control.