Control of Redundant Robot Manipulators: Theory and Experiments / Edition 1

by Rajni V. Patel, F. Shadpey

Overview

This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

Product Details

ISBN-13:	9783540250715
Publisher:	Springer Berlin Heidelberg
Publication date:	08/01/2005
Series:	Lecture Notes in Control and Information Sciences , #316
Edition description:	2005
Pages:	205
Product dimensions:	6.10(w) x 9.25(h) x 0.02(d)

Table of Contents

Introduction.- Redundant Manipulators: Kinematic Analysis and Redundancy Resolution.- Collision Avoidance for a 7-DOF Redundant Manipulator.- Contact Force and Compliant Motion Control.- Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator.- Experimental Results for Contact Force and Complaint Motion Control.- Concluding Remarks.

Editorial Reviews

From the reviews of the first edition:

"The monograph is concerned with the position and force control of redundant robot manipulators from both theoretical and experimental points of view. It contains a rich bibliography as well as a full symbol and subject index. Its aim is to provide an introduction for graduate students and researchers in the field of control of redundant robot manipulators. … it is a useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1081, 2006)

From the Publisher