Theory of robot control
著者
書誌事項
Theory of robot control
（Communications and control engineering）
Springer, c1996
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注記
At head of title: The Zodiac
Includes bibliographical references and index
内容説明・目次
内容説明
This study presents the latest research results in the theory of robot control. In three major parts the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. The way the text is organised echoes the gradual development of robot control in the last fifteen years. Most of the results on rigid robot manipulators in part I are now well established with the exception of constrained motion control. For flexible manipulators in part II, some problems still remain unresolved, especially those related to flexible links. Part III deals with the control of mobile robots, a challenging area for future research. The appendix reviews basic definitions and the mathematical background for control theory. The particular combination of topics makes this publication an invaluable source of information for graduate students and researchers.
目次
- Part 1 Rigid manipulators: modelling and identification
- joint space control
- task space control
- motion and force control. Part 2 Flexible manipulators: elastic joints
- flexible links. Part 3 Mobile robots: modelling and structural properties
- feedback linearization
- nonlinear feedback control. Appendix: control background.
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