3R4. Interaction Control of Robot Manipulators: Six Degrees-of-Freedom Tasks. - C Natale (Dipartimento di Ingegneria dell’Informazione, Seconda Universita degli Studi di Napoli, Via Roma 29, Aversa, 81031, Italy). Springer-Verlag, Berlin. 2003. 108 pp. ISBN 3-540-00159-X. $49.95.
Reviewed by MV Gandhi (Quantech Global Services, 2123 University Park Dr, Suite 150, Okemos MI 48864).
This monograph summarizes advances in the field of robot control, which pertain to interactions between the robotic manipulator and its environment. Specifically, the author deals with the key problem in robotics research aimed at providing the control system with an ability to address both motion and force control for undertaking complex tasks.
The book provides a comprehensive overview of six-DOF interaction tasks, task space motion and impedance control, along with a laboratory experimental set-up in its introductory chapter. This is followed by a detailed discussion on task space motion...