Robot control : the task function approach
Author(s)
Bibliographic Information
Robot control : the task function approach
（The Oxford engineering science series, 22）
Clarendon Press, 1991
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Note
Bibliography: p. [352]-360
Includes index
Description and Table of Contents
Description
This book examines in depth some theoretical and applied problems related to the control of rigid manipulators. Basic mathematical tools are established, and a way of properly expressing a user's goal in terms of robot tasks is given. Of particular interest is the automatic control of robot manipulators; hence particular attention is paid to the problems of stability and robustness. Questions of redundancy and of control based on on-board environment sensors, such as force or proximity, are also discussed. Concepts which are not self-evident are illustrated or are analyzed starting from a simpler situation. The practical consequences of the results obtained are also examined and their effects on commonly encountered cases and design choices are described and discussed.
Table of Contents
- Mathematical preliminaries
- fundamental configuration spaces
- basic models of robots
- the task function concept
- task redundancy
- control - a general approach
- stability analysis
- sensor-based tasks.
by "Nielsen BookData"