Theory of Robot Control

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Theory of Robot Control

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Theory of Robot Control

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Theory of Robot Control

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. Language: English
  • Brand: Unbranded
  • Category: Education
  • Format: Paperback
  • Language: English
  • Publication Date: 2012/02/12
  • Publisher / Label: Springer
  • Fruugo ID: 337864792-741523966
  • ISBN: 9781447115038
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