Overview

The advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza­ tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur­ performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new control techniques that have been developed on purpose. Most of those results, although widely spread, are nowadays rather dispersed in different journals and conference proceedings. The purpose of this book is to collect some of the most fundamental and current results on theory of robot control in a unified framework, by editing, improving and completing previous works in the area.

Full Product Details

Author:   Carlos Canudas de Wit ,  Bruno Siciliano ,  Georges Bastin
Publisher:   Springer London Ltd
Imprint:   Springer London Ltd
Edition:   Softcover reprint of the original 1st ed. 1996
Dimensions:   Width: 15.50cm , Height: 2.10cm , Length: 23.50cm
Weight:   0.622kg
ISBN:  

9781447115038

ISBN 10:   1447115031
Pages:   392
Publication Date:   12 February 2012
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

I Rigid manipulators.- 1 Modelling and identification.- 2 Joint space control.- 3 Task space control.- 4 Motion and force control.- II Flexible manipulators.- 5 Elastic joints.- 6 Flexible links.- III Mobile robots.- 7 Modelling and structural properties.- 8 Feedback linearization.- 9 Nonlinear feedback control.- A Control background.- A.1 Lyapunov theory.- A. 1.1 Autonomous systems.- A.1.2 Nonautonomous systems.- A.1.3 Practical stability.- A.2 Singular perturbation theory.- A.3 Differential geometry theory.- A.3.1 Normal form.- A.3.2 Feedback linearization.- A.3.3 Stabilization of feedback linearizable systems.- A.4 Input-output.- A.4.1 Function spaces and operators.- A.4.2 Passivity.- A.4.3 Robot manipulators as passive systems.- A.4.4 Kalman-Yakubovich-Popov lemma.- A.5 Further reading.- References.

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