Focusing on the foundations of robotics, this book delves into essential topics such as modeling, planning, and control. It addresses mobile robots, visual control, and motion planning, offering a comprehensive exploration of various challenges within the field. Through detailed problem-solving examples, it equips readers with the necessary tools to develop effective engineering solutions, making it a valuable resource for both students and professionals in robotics.
Focusing on the interaction between robots and their environment, the book explores effective force control strategies essential for successful robotic tasks. It covers both theoretical and experimental aspects of robot interaction control, emphasizing model-based operational space techniques like stiffness and impedance control for six-degree-of-freedom tasks. Additionally, it presents direct force control strategies through modified motion control schemes and advanced techniques such as passivity-based and adaptive control. All methods are validated through experiments on a seven-joint industrial robot equipped with force/torque sensors.
Layered Programming by Demonstration and Planning for Autonomous Robot Manipulation.- Observation and Execution.- Human-Robot Interaction.- Innovative Technologies for the Next Generation of Robotic Hands.- Grasping and Control ofMulti-Fingered Hands.