Task-Space Sensory Feedback Control of Robot Manipulators

Nonfiction, Science & Nature, Science, Other Sciences, System Theory, Technology, Automation
Cover of the book Task-Space Sensory Feedback Control of Robot Manipulators by Chien Chern Cheah, Xiang Li, Springer Singapore
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Chien Chern Cheah, Xiang Li ISBN: 9789812870629
Publisher: Springer Singapore Publication: April 9, 2015
Imprint: Springer Language: English
Author: Chien Chern Cheah, Xiang Li
ISBN: 9789812870629
Publisher: Springer Singapore
Publication: April 9, 2015
Imprint: Springer
Language: English

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.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

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.

More books from Springer Singapore

Cover of the book Smart Environment for Smart Cities by Chien Chern Cheah, Xiang Li
Cover of the book China Accounting Standards by Chien Chern Cheah, Xiang Li
Cover of the book Inner Experience of the Chinese People by Chien Chern Cheah, Xiang Li
Cover of the book Analysis and Synthesis of Dynamic Systems with Positive Characteristics by Chien Chern Cheah, Xiang Li
Cover of the book Marriage and Fertility Behaviour in Japan by Chien Chern Cheah, Xiang Li
Cover of the book Negotiating multiple identities by Chien Chern Cheah, Xiang Li
Cover of the book Inequity in Indian Health Care by Chien Chern Cheah, Xiang Li
Cover of the book Computer Engineering and Technology by Chien Chern Cheah, Xiang Li
Cover of the book East-Asian Primary Science Curricula by Chien Chern Cheah, Xiang Li
Cover of the book The Reconstruction of Modality in Chinese-English Government Press Conference Interpreting by Chien Chern Cheah, Xiang Li
Cover of the book Korean Education in Changing Economic and Demographic Contexts by Chien Chern Cheah, Xiang Li
Cover of the book Jute Geotextiles and their Applications in Civil Engineering by Chien Chern Cheah, Xiang Li
Cover of the book Hepatitis C Virus Treatment by Chien Chern Cheah, Xiang Li
Cover of the book Functional Starch and Applications in Food by Chien Chern Cheah, Xiang Li
Cover of the book Mathematical Analysis of Continuum Mechanics and Industrial Applications by Chien Chern Cheah, Xiang Li
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy