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One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space...

The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research - rapidly and informally but...

This book provides the basic know-how on the foundations of robotics: modelling, planning and control. The book develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. The theory of manipulator structures presented in the early part of the book encompasses the fundamentals: kinematics, statics and...

One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space...