Cover	1
	Title Page	5
	Copyright	6
	Contents	7
	Preface	11
	Chapter 1 Introduction	15
	1.1 Robot Joint Friction Modeling and Parameter Identification	15
	1.2 Contact Perception in Virtual Environment	16
	1.3 Organization of This Book	17
	References	18
	Chapter 2 Fundamentals of Robot Dynamics and Control	23
	2.1 Robot Kinematics	23
	2.1.1 Matrix Description of Robot Kinematics	23
	2.1.2 Homogeneous Transformation Matrices	26
	2.1.3 Forward Kinematics	28
	2.1.4 Inverse Kinematics	38
	2.1.5 Velocity Kinematics	43
	2.2 Robot Dynamics	44
	2.3 Robot Control	45
	2.3.1 Introduction	45
	2.3.2 Trajectory Control	45
	2.3.2.1 Point?to?Point Control	46
	2.3.2.2 Trajectories for Paths Specified by Points	47
	2.3.3 Interaction Control	52
	2.3.3.1 Impedance Control	52
	2.3.3.2 Hybrid Force?Position Control	52
	References	53
	Chapter 3 Friction and Contact of Solid Interfaces	59
	3.1 Introduction	59
	3.2 Contact Between Two Solid Surfaces	60
	3.2.1 Description of Surfaces	60
	3.2.2 Contact Mechanics of Two Solid Surfaces	62
	3.3 Friction Between Two Solid Surfaces	69
	3.3.1 Adhesion	69
	3.3.2 Dry Friction	79
	3.3.2.1 Friction Mechanisms	79
	3.3.2.2 Friction Transitions and Wear	89
	3.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence	92
	3.3.2.4 Effects of Environmental and Operational Condition on Friction	94
	3.3.3 Liquid Mediated Friction	95
	3.3.3.1 Stribeck Curve	95
	3.3.3.2 Unsteady Liquid?Mediated Friction	98
	3.3.3.3 Negative Slope of Friction?Velocity Curve	101
	3.3.4 Friction Models	101
	References	113
	Chapter 4 Friction Dynamics of Manipulators	129
	4.1 Friction Models of Robot Manipulator Joints	129
	4.2 Modeling Friction with Varied Effects	133
	4.3 The Motion Equations of Dynamics of Robot Manipulators with Friction	137
	4.3.1 The General Motion Equation of Robot Manipulators	137
	4.3.2 The Motion Equation of Two?Link Robot Manipulators	144
	4.4 Nonlinear Dynamics and Chaos of Manipulators	146
	4.5 Parameters Identification	156
	4.5.1 Identification of Dynamic Parameters	156
	4.5.2 Identification of Parameters of Friction Models	160
	4.5.3 Uncertainty Analysis	165
	4.6 Friction Compensation and Control of Robot Manipulator Dynamics	167
	References	172
	Chapter 5 Force Feedback and Haptic Rendering	189
	5.1 Overview of Robot Force Feedback	189
	5.2 Generating Methods of Feedback Force	191
	5.2.1 Serial Mechanism	192
	5.2.1.1 Kinematics	192
	5.2.1.2 Inverse Kinematics	193
	5.2.1.3 Dynamics	195
	5.2.2 Parallel Mechanism	196
	5.2.2.1 Kinematics Model	196
	5.2.2.2 Forward Kinematics	199
	5.2.2.3 Inverse Kinematics	202
	5.2.2.4 Dynamics Based on Virtual Work	204
	5.2.3 Friction Compensation	208
	5.3 Calculation of Virtual Force	211
	5.3.1 Collision Detection	211
	5.3.1.1 The Construction of the Bounding Box	213
	5.3.1.2 Calculation of Distance between Bounding Boxes	216
	5.3.2 Calculating the Model of Virtual Force	220
	5.3.2.1 1?DoF Interaction	220
	5.3.2.2 2?DoF Interaction	221
	5.3.2.3 3?DoF Interaction	222
	5.3.2.4 6?DoF Interaction	224
	5.4 Haptic Display Based on Point Haptic Device	224
	5.4.1 Human Tactile Perception	225
	5.4.2 Haptic Texture Display Methods	225
	References	228
	Chapter 6 Virtual Simulation of Robot Control	239
	6.1 Overview of Robot Simulation	239
	6.2 3D Graphic Environment	241
	6.3 Virtual Reality?Based Robot Control	242
	6.3.1 Overview of Virtual Reality	242
	6.3.2 Overview of Teleoperation	243
	6.3.3 Virtual Reality?Based Teleoperation	245
	6.4 Augmented Reality?Based Teleoperation	247
	6.4.1 Overview of Augmented Reality	247
	6.4.2 Augmented Reality?Based Teleoperation	248
	6.5 Task Planning Methods in Virtual Environment	249
	6.5.1 Overview	249
	6.5.2 Interactive Graphic Mode	250
	References	252
	Index	261
	EULA	269