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
Available at 22 libraries
  Aomori
  Iwate
  Miyagi
  Akita
  Yamagata
  Fukushima
  Ibaraki
  Tochigi
  Gunma
  Saitama
  Chiba
  Tokyo
  Kanagawa
  Niigata
  Toyama
  Ishikawa
  Fukui
  Yamanashi
  Nagano
  Gifu
  Shizuoka
  Aichi
  Mie
  Shiga
  Kyoto
  Osaka
  Hyogo
  Nara
  Wakayama
  Tottori
  Shimane
  Okayama
  Hiroshima
  Yamaguchi
  Tokushima
  Kagawa
  Ehime
  Kochi
  Fukuoka
  Saga
  Nagasaki
  Kumamoto
  Oita
  Miyazaki
  Kagoshima
  Okinawa
  Korea
  China
  Thailand
  United Kingdom
  Germany
  Switzerland
  France
  Belgium
  Netherlands
  Sweden
  Norway
  United States of America
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"