{"product_id":"9780792377337","title":"The Springer International Series in Engineering and Computer Science","description":"\u003ch1\u003eThe Springer International Series in Engineering and Computer Science\u003c\/h1\u003e \u003ch2\u003eSiciliano, Bruno; Villani, Luigi\u003c\/h2\u003e \u003cp\u003eOne 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 control, stiffness  control and impedance control are presented as the basic strategies  for indirect force control; a key feature is the coverage of  six-degree-of-freedom interaction tasks and manipulator kinematic  redundancy. Then, direct force control strategies are presented which  are obtained from motion control schemes suitably modified by the  closure of an outer force regulation feedback loop. Finally, advanced  force and position control strategies are presented which include  passivity-based, adaptive and output feedback control schemes.  Remarkably, all control schemes are experimentally tested on a setup  consisting of a seven-joint industrial robot with open control  architecture and force\/torque sensor. \u003cbr\u003e  The topic of robot force control is not treated in depth in robotics  textbooks, in spite of its crucial importance for practical  manipulation tasks. In the few books addressing this topic, the  material is often limited to single-degree-of-freedom tasks. On the  other hand, several results are available in the robotics literature  but no dedicated monograph exists. The book is thus aimed at filling  this gap by providing a theoretical and experimental treatment of  robot force control.\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 2000-01-31\u003c\/p\u003e \u003cp\u003eFormat: Hardcover\u003c\/p\u003e \u003cp\u003eISBN-13: 9780792377337\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-1-4615-4431-9\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 146\u003c\/p\u003e ","brand":"Springer US","offers":[{"title":"Default Title","offer_id":45578382442636,"sku":"9780792377337","price":152.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9780792377337.jpg?v=1774028823","url":"https:\/\/lateknightbooks.com\/products\/9780792377337","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}