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题名/责任者:

Task-Space Sensory Feedback Control of Robot Manipulators by Chien Chern Cheah, Xiang Li.

版本说明:

1st ed. 2015.

出版发行项:

Singapore : Springer Singapore : Imprint: Springer, 2015.

ISBN:

9789812870629

其它标准号:

10.1007/978-981-287-062-9

载体形态项:

VII, 223 p. 95 illus., 43 illus. in color. online resource.

主文献:

Springer Nature eBook

其他载体形态:

Printed edition: 9789812870636

其他载体形态:

Printed edition: 9789812870612

其他载体形态:

Printed edition: 9789811013522

丛编说明:

Intelligent Systems, Control and Automation: Science and Engineering, 2213-8986 ; 73

丛编统一题名:

Intelligent Systems, Control and Automation: Science and Engineering, 73

个人责任者:

Cheah, Chien Chern. author.

附加个人名称:

Li, Xiang. author.

附加团体名称:

SpringerLink (Online service)

论题主题:

Control engineering.

论题主题:

System theory.

论题主题:

Vibration.

论题主题:

Dynamical systems.

论题主题:

Dynamics.

论题主题:

Control and Systems Theory.

论题主题:

Systems Theory, Control.

论题主题:

Vibration, Dynamical Systems, Control.

内容附注:

Introduction -- Task-Space Setpoint Control -- Unified Analysis and Duality Property of Task-space Setpoint Control -- Task-Space Tracking Control -- Advanced Motion Control -- Region Control -- Regional Feedback Control of Robot.

摘要附注:

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.

电子资源:

https://doi.org/10.1007/978-981-287-062-9

豆瓣简介：