Manipulation

Robotic manipulation is carried out in many diverse tasks and environment settings, some of them requiring special capabilities in order to satisfy specific kinematic or dynamic constraints. This Chapter presents an overview of the different robotic manipulation control approaches and their corresponding equations and methodologies in both joint and Cartesian spaces, including position, force, hybrid, stiffness/compliance and impedance controls. After that, assembly, pushing and modeling of contact interfaces of friction limit surface in robotic manipulation are also discussed and elucidated with examples. The last part of the Chapter corresponds to the topics of manipulation planning, tele-manipulation, super-sensors and actuators, and manipulation in the realms of micro and nano world.