Force Control of Robotics Systems

Although the challenges of manipulator force control have spawned a growing body of literature, including a few books that touch upon the subject, Force Control of Robotics Systems is the first book that focuses on the fundamentals of this complex topic. Written by some of the first scientists to engage in force control research, this timely volume presents original results, some of which previously have not been readily accessible to Western audiences. The text begins with a thorough presentation of the basics. Issues covered include force sensor design, force feedback synthesis, closed-loop dynamics, and more. The theoretical analysis in the book is based on the methods of Analytical Dynamics and Control Theory. The book also considers fundamental problems related to force control, and explains how to design simple and efficient control algorithms for performing tasks with robots. Algorithms and design methods presented in the book are experimentally verified and emphasize practical applications. The reference list includes over 350 entries, some of which have never been published in English before now. This book offers a comprehensive treatment of fundamental issues in force control, including force sensor design, force feedback synthesis, stability analysis, and design of control algorithms. Written by some of the first researchers to engage in force control research, this timely volume also presents original research results, some of which have not previously been readily accessible to Western audiences.-- Offers a comprehensive treatment of force control fundamentals-- Discusses practical problems in force control-- Describes how to design efficient control algorithms-- Emphasizes practical applications-- Includes 100+ figures and over 350 references "Force Control of Robotics Systems focuses exclusively on the fundamentals of this complex topic. Written by some of the first scientists to engage in force control research, this timely volume presents original results, some of which previously have not been readily accessible to Western audiences."--BOOK JACKET