Robot Force Control (Hardcover, 1999)

1. Introduction.- 1. Motion control vs. interaction control.- 2. Indirect vs. direct force control.- 3. Experimental apparatus.- 2. Motion Control.- 1. Modeling.- 1.1 Kinematics.- 1.2 Dynamics.- 2. Tracking control.- 2.1 Dynamic model-based compensation.- 2.2 Euler angles error.- 2.3 Angle/axis error.- 2.4 Quaternion error.- 2.5 Computational issues.- 2.6 Redundancy resolution.- 3. Regulation.- 3.1 Static model-based compensation.- 3.2 Orientation errors.- 4. Further reading.- 3. Indirect Force Control.- 1. Compliance control.- 1.1 Active compliance.- 1.2 Experiments.- 2. Impedance control.- 2.1 Active impedance.- 2.2 Inner motion control.- 2.3 Three-DOF impedance control.- 2.4 Experiments.- 3. Six-DOF impedance control.- 3.1 Euler angles displacement.- 3.2 Angle/axis displacement.- 3.3 Quaternion displacement.- 3.4 Experiments.- 3.5 Nondiagonal six-DOF stiffness.- 4. Further reading.- 4. Direct Force Control.- 1. Force regulation.- 1.1 Static model-based compensation.- 1.2 Dynamic model-based compensation.- 1.3 Experiments.- 2. Force and motion control.- 2.1 Force and position regulation.- 2.2 Force and position control.- 2.3 Moment and orientation control.- 2.4 Experiments.- 3. Force tracking.- 3.1 Contact stiffness adaptation.- 3.2 Experiments.- 4. Further reading.- 5. Advanced Force and Position Control.- 1. Task space dynamics.- 2. Adaptive control.- 2.1 Regulation.- 2.2 Passivity-based control.- 2.3 Experiments.- 3. Output feedback control.- 3.1 Regulation.- 3.2 Passivity-based control.- 3.3 Experiments.- 4. Further reading.- Appendices.- A - Rigid Body Orientation.- 1. Rotation matrix.- 2. Euler angles.- 3. Angle/axis.- 4. Quaternion.- B - Models of Robot Manipulators.- 1. Kinematic models.- 1.1 Six-joint manipulator.- 1.2 Seven-joint manipulator.- 2. Dynamic models.- 2.1 Six-joint manipulator.- 2.2 Seven-joint manipulator.- References.