Téléchargez le livre : Task-Space Sensory Feedback Control of Robot Manipulators

Task-Space Sensory Feedback Control of Robot Manipulators

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Éditeur :

Springer


Collection :

Intelligent Systems, Control and Automation: Science and Engineering

Paru le : 2015-04-09

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Description

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
Pages
223 pages
Collection
Intelligent Systems, Control and Automation: Science and Engineering
Parution
2015-04-09
Marque
Springer
EAN papier
9789812870612
EAN PDF
9789812870629
Informations sur l'ebook
Nombre pages copiables
2
Nombre pages imprimables
22
Taille du fichier
6574 Ko
Prix
94,94 €
EAN EPUB
9789812870629
Informations sur l'ebook
Nombre pages copiables
2
Nombre pages imprimables
22
Taille du fichier
19825 Ko
Prix
94,94 €

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