Dynamics and Robust Control of Robot-environment Interaction

Citation

(2011), "Dynamics and Robust Control of Robot-environment Interaction", Industrial Robot, Vol. 38 No. 1. https://doi.org/10.1108/ir.2011.04938aae.001

Dynamics and Robust Control of Robot-environment Interaction

Dynamics and Robust Control of Robot-environment Interaction

Article Type: Book review From: Industrial Robot: An International Journal, Volume 38, Issue 1

Miomir VukobratovicWorld ScientificMarch 2009$200660 pp.ISBN: 978-981-283-475-1Web link: www.worldscibooks.com/compsci/7017.html,

This book presents, in a unitary frame and from a new perspective, the main concepts and results of one of the most fascinating branches of robotics, namely, the robot-environment interaction, and offers the reader another point of view concerning a possible way to approach the stability problems. Robot-environment interaction for deriving control schemes first appeared about 30 years ago. Since then, much has been done to refine and develop the method, but it is still a highly active field of research, with many outstanding problems, both theoretical and in applications. The book encompasses a wide range of important topics – it focuses on the interaction aspects, leading to a wider and deeper understanding of force control.

The book aims to be self-contained by presenting complete proofs of the theorems. It provides a concise and didactically structure of force control as matters stand. The theory of the new techniques are described and analyzed in detail. Moreover, to further link the theoretical aspects with practical issues, and to provide the reader with an idea of design, numerical examples together with implementations are included in the book. It overviews current formal design methods and provides an in-depth analysis of some advanced techniques to improve the stability of these methods and close the gap between design and verification.

Throughout all parts, the authors have taken a practical and applications-driven point of view, providing a comprehensive and easily understood approach to all the concepts discussed. The text provides newcomers with a much-needed coherent scientific base for undertaking study and research in this field. It closes the gap between theory and practice by transferring the latest theoretical insights into practical applications.

Since this is an active research field, a comprehensive state-of-the-art overview is very valuable, introducing the main problems as well as the ways of solution that seem promising, emphasizing their basis, strengths and weaknesses. It renders a new and better perspective toward co-design approaches, while also raising a level of design abstraction.

Miguel Almonacid Kroeger and Juan Ignacio MuleroUniversidad Politécnica de Cartagena, Cartagena, Murcia, Spain