Force Control of Robotic Systems

CRC-Press, 1998, 368 pages. Although the challenges of manipulator force control have spawned a growing body of literature, including a few books that touch upon the subject, this 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.