Task-Space Sensory Feedback Control of Robot Manipulators

Name: Task-Space Sensory Feedback Control of Robot Manipulators
Brand: Springer Verlag, Singapore
SKU: 9789812870612
Price: 551.7 RON
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Autor: Chien Chern Cheah, Xiang Li

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Legare: Copertă tare

Editura: Springer Verlag, Singapore

Disponibilitate: În depozitul extern

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The aim of this book is to present recent advances in robot control theory on task space sensory fee...

Informații despre carte

Autor

Chien Chern Cheah, Xiang Li

Limbă

engleză

Legare

Carte - Copertă tare

Publicat

2015

Pagini

223

EAN

9789812870612

ISBN

981287061X

Enbook ID

02582863

Editura

Springer Verlag, Singapore

Greutate

4734

Dimensiuni

155 x 235 x 16

Descriere completă

The aim of this book is to present recent advances in robot control theory on task space sensory feedback control of robot manipulator. 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 presented. These formulations and methods give robot 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.

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