000 03280nam a22005295i 4500
001 978-981-287-062-9
003 DE-He213
005 20200421112052.0
007 cr nn 008mamaa
008 150409s2015 si | s |||| 0|eng d
020 _a9789812870629
_9978-981-287-062-9
024 7 _a10.1007/978-981-287-062-9
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aCheah, Chien Chern.
_eauthor.
245 1 0 _aTask-Space Sensory Feedback Control of Robot Manipulators
_h[electronic resource] /
_cby Chien Chern Cheah, Xiang Li.
264 1 _aSingapore :
_bSpringer Singapore :
_bImprint: Springer,
_c2015.
300 _aVII, 223 p. 95 illus., 43 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aIntelligent Systems, Control and Automation: Science and Engineering,
_x2213-8986 ;
_v73
505 0 _aIntroduction -- 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 _aThis 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.
650 0 _aEngineering.
650 0 _aSystem theory.
650 0 _aVibration.
650 0 _aDynamical systems.
650 0 _aDynamics.
650 0 _aControl engineering.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aSystems Theory, Control.
650 2 4 _aVibration, Dynamical Systems, Control.
700 1 _aLi, Xiang.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9789812870612
830 0 _aIntelligent Systems, Control and Automation: Science and Engineering,
_x2213-8986 ;
_v73
856 4 0 _uhttp://dx.doi.org/10.1007/978-981-287-062-9
912 _aZDB-2-ENG
942 _cEBK
999 _c57260
_d57260