Control of Redundant Robot Manipulators Theory and Experiments /

• Main Authors: Patel, R. V. (Author), Shadpey, F. (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.
• Series: Lecture Notes in Control and Information Science, 316
• Subjects: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Mechatronics.; Control.; Artificial Intelligence (incl. Robotics).; Control, Robotics, Mechatronics.

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 w...

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.