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Theory of robot control

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Springer, 1996 - 392 pages
This study presents the latest research results in the theory of robot control. In three major parts the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. The way the text is organised echoes the gradual development of robot control in the last fifteen years. Most of the results on rigid robot manipulators in part Iare now well established with the exception of constrained motion control. For flexible manipulators in part II, some problems still remain unresolved, especially those related to flexible links. PartIIIdeals with the control of mobile robots, a challenging area for future research. The appendix reviews basic definitions and the mathematical background for control theory. The particular combination of topics makes this publication an invaluable source of information for graduate students and researchers.

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Table des matières

Modelling and identification
3
Joint space control
59
Task space control
115
Droits d'auteur

8 autres sections non affichées

Autres éditions - Tout afficher

Theory of Robot Control
Theory of Robot Control
Carlos Canudas De Wit,Bruno Siciliano,Georges Bastin
Aucun aperçu disponible - 2012

Expressions et termes fréquents

actuators adaptive control algorithm analysis Assumption asymptotic stability bounded Canudas de Wit closed-loop system computed configuration Consider constant constraint control input control law control of robot control schemes convergence coordinates damping defined derivative dynamic model dynamic parameters Dynamic Systems elastic joints end-effector equilibrium point exponentially feedback control feedback linearization fixed wheels flexible arm frame full state feedback gravity IEEE IEEE Int IEEE Trans inertia matrix inverse dynamics control inverse kinematics Jacobian joint space joint variables joint velocities Lemma linearizable Lyapunov function motion nonholonomic nonholonomic systems null space obtained orientation output passive PD control positive definite posture kinematic model Proc properties pseudoinverse redundant rigid Robot Control robot manipulators Robotic Systems Robotics and Automation Robotics Research robust Siciliano singular value decomposition solution space control static state feedback steering wheels task space tends to zero theorem time-varying torque tracking problem Type vector wheeled mobile robots

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Références issues de pages Web

Theory of Robot Control [Bookshelf] - IEEE Control Systems Magazine
the theory of robot control in a unified. framework. The text is addressed to. graduate students as well as to researchers. in the field. ...
ieeexplore.ieee.org/ iel4/ 37/ 15061/ 00687624.pdf?tp=& isnumber=& arnumber=687624

Decentralized Control of Elastic Limbs in Closed Kinematic Chains
Theory of Robot Control , C. Canudas de Wit , B. Siciliano and G. Bastin , editors, Springer , pp. 219 - 256 . 18. deluca, A. and Tomei, P. 1996 . ...
portal.acm.org/ citation.cfm?id=1274659

List of Publications Alessandro DE LUCA Edited Books Edited ...
Theory of Robot Control, pp. 219–261, Springer Verlag, Berlin, 1996. [BC-5] A. De Luca, P. Tomei, “Elastic Joints,” in C. Canudas de Wit, B. Siciliano, ...
www.dis.uniroma1.it/ ~labrob/ people/ deluca/ pubs/ Publications_ADL.pdf

Trajectory control of flexible manipulators
B, Bastin G (eds) Theory of Robot Control. Springer-Verlag, London, UK,. pp 219 261. [15] De Luca A, Tomei P 1996 Elastic Joints. In: Canudas de Wit C, ...
www.springerlink.com/ index/ m47u05j8388k1p65.pdf

E-LETTER on Systems, Control, and Signal Processing
Contributed by: C. Canudas de Wit (canudas@lag.grenet.fr) THEORY OF ROBOT CONTROL The ZODIAC Carlos Canudas de Wit, Bruno Siciliano and Georges Bastin (Eds) ...
www-control.eng.cam.ac.uk/ extras/ eletter/ 94.html

rb SICILIANO
Summer School on Theory of Robot Control,Ecole Nationale Superieure d’Ingenieurs. Electriciens de Grenoble, Institut National Polytechnique de Grenoble, ...
wpage.unina.it/ sicilian/ bruno/ Resume.pdf

Magnus Egerstedt
Motion Planning. and Control. of Mobile. Robots. Magnus Egerstedt. Doctoral Thesis. Stockholm, 2000. Optimization and Systems Theory ...
www.diva-portal.org/ diva/ getDocument?urn_nbn_se_kth_diva-2948-2__fulltext.pdf

输入力矩受限的机器人鲁棒自适应跟踪控制
[10]CANUDAS de WIT C, SICILIANO B, BASTING. Theory of Robot control [M] . 2nd ed. London: Springer-Verlag, 1997:61 - 63. ...
scholar.ilib.cn/ Abstract.aspx?A=kzllyyy200303005

Consulta de catàlegs de l'UPV
Títol, Theory of robot control / Carlos Canudas de Wit, Bruno Siciliano and Goerges Bastin (eds.) Publicació, Berlin [etc.] : Springer, 1997 ...
www.upv.es/ pls/ obib/ cat_biblio.doc_ficha?p_nlib=128530& p_sesion=18171799& p_orden=5

À propos de l'auteur (1996)

Bruno Siciliano is Professor of Control and Robotics at University of Naples, President-Elect and Distinguished Lecturer of the IEEE Robotics and Automation Society, and he is on the board of the European Robotics Research Network. He is a Fellow of both IEEE and ASME.

Oussama Khatib is Professor at Stanford University, President of IFRR, the International Foundation of Robotics Research, Distinguished Lecturer of the IEEE Robotics and Automation Society and a recipient of the JARA (Japan Robot Association) Award in Research and Development. He is a Fellow of the IEEE.

Informations bibliographiques

QR code for Theory of robot control
TitreTheory of robot control
Communications and control engineering
Lecture Notes in Control and Information Sciences
AuteursCarlos A. Canudas de Wit, Bruno Siciliano, Georges Bastin
RédacteursCarlos A. Canudas de Wit, Bruno Siciliano, Georges Bastin
CollaborateurCarlos A. Canudas de Wit
Édition2, illustrée
ÉditeurSpringer, 1996
Original provenant del'Université du Michigan
Numérisé5 déc. 2007
ISBN3540760547, 9783540760542
Longueur392 pages
  
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