Task-Space Sensory Feedback Control of Robot Manipulators (Record no. 57260)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03280nam a22005295i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-981-287-062-9 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20200421112052.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 150409s2015 si | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9789812870629 |
| -- | 978-981-287-062-9 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | Cheah, Chien Chern. |
| 245 10 - TITLE STATEMENT | |
| Title | Task-Space Sensory Feedback Control of Robot Manipulators |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | VII, 223 p. 95 illus., 43 illus. in color. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Intelligent Systems, Control and Automation: Science and Engineering, |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | 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. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | 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. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Li, Xiang. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-981-287-062-9 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Singapore : |
| -- | Springer Singapore : |
| -- | Imprint: Springer, |
| -- | 2015. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | System theory. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Vibration. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Dynamical systems. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Dynamics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Systems Theory, Control. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Vibration, Dynamical Systems, Control. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 2213-8986 ; |
| 912 ## - | |
| -- | ZDB-2-ENG |
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