DR. SHIPING LIU is an Associate Professor in School of Mechanical Engineering & Science, Huazhong University of Science and Technology in Wuhan, Hubei, China. DR. GANG (SHENG) CHEN is a Professor in College of Information Technology and Engineering, Marshall University, Huntington, WV, USA.

• Preface ix1 Introduction 11.1 Robot Joint Friction Modeling and Parameter Identification 11.2 Contact Perception in Virtual Environment 21.3 Organization ofThis Book 3References 42 Fundamentals of Robot Dynamics and Control 92.1 Robot Kinematics 92.1.1 Matrix Description of Robot Kinematics 92.1.2 Homogeneous Transformation Matrices 122.1.3 Forward Kinematics 142.1.4 Inverse Kinematics 242.1.5 Velocity Kinematics 292.2 Robot Dynamics 302.3 Robot Control 312.3.1 Introduction 312.3.2 Trajectory Control 312.3.2.1 Point-to-Point Control 322.3.2.2 Trajectories for Paths Specified by Points 332.3.3 Interaction Control 382.3.3.1 Impedance Control 382.3.3.2 Hybrid Force-Position Control 38References 393 Friction and Contact of Solid Interfaces 453.1 Introduction 453.2 Contact Between Two Solid Surfaces 463.2.1 Description of Surfaces 463.2.2 Contact Mechanics of Two Solid Surfaces 483.3 Friction Between Two Solid Surfaces 553.3.1 Adhesion 553.3.2 Dry Friction 653.3.2.1 Friction Mechanisms 653.3.2.2 Friction Transitions andWear 753.3.2.3 Static Friction, Hysteresis, Time, and Displacement Dependence 783.3.2.4 Effects of Environmental and Operational Condition on Friction 803.3.3 Liquid Mediated Friction 813.3.3.1 Stribeck Curve 813.3.3.2 Unsteady Liquid-Mediated Friction 843.3.3.3 Negative Slope of Friction-Velocity Curve 873.3.4 Friction Models 87References 994 Friction Dynamics of Manipulators 1154.1 Friction Models of Robot Manipulator Joints 1154.2 Modeling Friction with Varied Effects 1194.3 The Motion Equations of Dynamics of Robot Manipulators with Friction 1234.3.1 The General Motion Equation of Robot Manipulators 1234.3.2 The Motion Equation of Two-Link Robot Manipulators 1304.4 Nonlinear Dynamics and Chaos of Manipulators 1324.5 Parameters Identification 1424.5.1 Identification of Dynamic Parameters 1424.5.2 Identification of Parameters of Friction Models 1464.5.3 Uncertainty Analysis 1514.6 Friction Compensation and Control of Robot Manipulator Dynamics 153References 1585 Force Feedback and Haptic Rendering 1755.1 Overview of Robot Force Feedback 1755.2 GeneratingMethods of Feedback Force 1775.2.1 SerialMechanism 1785.2.1.1 Kinematics 1785.2.1.2 Inverse Kinematics 1795.2.1.3 Dynamics 1815.2.2 Parallel Mechanism 1825.2.2.1 KinematicsModel 1825.2.2.2 Forward Kinematics 1855.2.2.3 Inverse Kinematics 1885.2.2.4 Dynamics Based on VirtualWork 1905.2.3 Friction Compensation 1945.3 Calculation of Virtual Force 1975.3.1 Collision Detection 1975.3.1.1 The Construction of the Bounding Box 1995.3.1.2 Calculation of Distance between Bounding Boxes 2025.3.2 Calculating the Model of Virtual Force 2065.3.2.1 1-DoF Interaction 2065.3.2.2 2-DoF Interaction 2075.3.2.3 3-DoF Interaction 2085.3.2.4 6-DoF Interaction 2105.4 Haptic Display Based on Point Haptic Device 2105.4.1 Human Tactile Perception 2115.4.2 Haptic Texture DisplayMethods 211References 2146 Virtual Simulation of Robot Control 2256.1 Overview of Robot Simulation 2256.2 3D Graphic Environment 2276.3 Virtual Reality−Based Robot Control 2286.3.1 Overview of Virtual Reality 2286.3.2 Overview of Teleoperation 2296.3.3 Virtual Reality−Based Teleoperation 2316.4 Augmented Reality−Based Teleoperation 2336.4.1 Overview of Augmented Reality 2336.4.2 Augmented Reality−Based Teleoperation 2346.5 Task PlanningMethods in Virtual Environment 2356.5.1 Overview 2356.5.2 Interactive Graphic Mode 236References 238Index 247

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