rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Task-Space Sensory Feedback Control of Robot Manipulators
  name:
    name part: Cheah, Chien Chern.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Li, Xiang.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: si
    date issued: 2015
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: VII, 223 p. 95 illus., 43 illus. in color. online resource.
  abstract: 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.
  table of contents: 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.
  note: by Chien Chern Cheah, Xiang Li.
  subject:
    topic: Engineering
  subject:
    topic: System theory
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Control engineering
  subject:
    topic: Engineering
  subject:
    topic: Control
  subject:
    topic: Systems Theory, Control
  subject:
    topic: Vibration, Dynamical Systems, Control
  classification: TJ212-225
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Intelligent Systems, Control and Automation: Science and Engineering, 73
  identifier: 9789812870629
  identifier: http://dx.doi.org/10.1007/978-981-287-062-9
  record info:
    record creation date: 150409
    record change date: 20151030051019.0
    record identifier: 978-981-287-062-9