Theory of Robot Control (eBook, PDF)

Redaktion: Canudas De Wit, Carlos; Bastin, Georges; Siciliano, Bruno

• Format: PDF

Produktbeschreibung

A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.

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Produktdetails

• Verlag: Springer London
• Seitenzahl: 392
• Erscheinungstermin: 6. Dezember 2012
• Englisch
• ISBN-13: 9781447115014
• Artikelnr.: 44046287

Inhaltsangabe

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.