Task-Space Sensory Feedback Control of Robot Manipulators

• Main Authors: Cheah, Chien Chern (Author), Li, Xiang (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Singapore : Springer Singapore : Imprint: Springer, 2015.
• Series: Intelligent Systems, Control and Automation: Science and Engineering, 73
• Subjects: Engineering.; System theory.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Control.; Systems Theory, Control.; Vibration, Dynamical Systems, Control.

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...

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.