Robot control : the task function approach
著者
書誌事項
Robot control : the task function approach
（The Oxford engineering science series, 22）
Clarendon Press, 1991
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注記
Bibliography: p. [352]-360
Includes index
内容説明・目次
内容説明
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.
目次
- Mathematical preliminaries
- fundamental configuration spaces
- basic models of robots
- the task function concept
- task redundancy
- control - a general approach
- stability analysis
- sensor-based tasks.
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