Advertisement

Theory of Robot Control

  • Carlos Canudas de Wit
  • Bruno Siciliano
  • Georges Bastin

Part of the Communications and Control Engineering book series (CCE)

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Rigid manipulators

    1. Front Matter
      Pages 1-1
    2. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 3-58
    3. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 59-114
    4. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 115-139
    5. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 141-175
  3. Flexible manipulators

    1. Front Matter
      Pages 177-177
    2. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 179-217
    3. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 219-261
  4. Mobile robots

    1. Front Matter
      Pages 263-263
    2. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 265-306
    3. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 307-330
    4. Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin
      Pages 331-361
  5. Back Matter
    Pages 363-392

About this book

Introduction

The advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza­ tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur­ performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new control techniques that have been developed on purpose. Most of those results, although widely spread, are nowadays rather dispersed in different journals and conference proceedings. The purpose of this book is to collect some of the most fundamental and current results on theory of robot control in a unified framework, by editing, improving and completing previous works in the area.

Keywords

Normal control control theory differential geometry feedback identification modeling motion control reading robot stability stabilization

Editors and affiliations

  • Carlos Canudas de Wit
    • 1
  • Bruno Siciliano
    • 2
  • Georges Bastin
    • 3
  1. 1.Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble, Rue de la Houille BlancheDomaine UniversitaireSaint-Martin-d’HèresFrance
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly
  3. 3.Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique AppliquéeUniversité Catholique de LouvainLouvain-la-NeuveBelgium

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-1501-4
  • Copyright Information Springer-Verlag London 1996
  • Publisher Name Springer, London
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4471-1503-8
  • Online ISBN 978-1-4471-1501-4
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site
Industry Sectors
Pharma
Materials & Steel
Automotive
Biotechnology
Electronics
IT & Software
Telecommunications
Energy, Utilities & Environment
Aerospace
Oil, Gas & Geosciences
Engineering