Page 18 -

xvi CONTENTS

Hybrid Position/Force Control of an N-Link
Manipulator 482
Implementation Issues 487
9.4 Hybrid Impedance Control 489
Modeling the Environment 490
Position and Force Control Models 492
Impedance Control Formulation 494
Implementation Issues 499
9.5 Reduced State Position/Force Control 501
Effects of Holonomic Constraints on the
Manipulator Dynamics 501
Reduced State Modeling and Control 504
Implementation Issues 509
9.6 Summary 510
References 513
Problems 514

10 Robot Control Implementation and Software 517
10.1 Introduction 518
10.2 Tools and Technologies 520
10.3 Design of the Robotic Platform 523
Overview 523
Core Classes 526
Robot Control Classes 527
External Device Classes 532
Utility Classes 533
Configuration Management 533
Object Manager 534
Concurrency/Communication Model 537
Plotting and Control Tuning Capabilities 538
Math Library 540
Error Management and the Front-End GUI 542
10.4 Operation of the Robotic Platform 543
Scene Viewer and Control Panels 543
Utility Programs for Moving the Robot 544
Writing, Compiling, Linking, and Starting
Control Programs 545
10.5 Programming Examples 548
Comparison of Simulation and Implementation 548
Virtual Walls 548
10.6 Summary 550
References 551

Copyright © 2004 by Marcel Dekker, Inc.