Introduction

Abstract

In this introductory chapter, the problem of controlling a robot manipulator which performs six-degrees-of-freedom (six-DOF) tasks requiring interaction with the environment is described. The difference between the well-assessed operational space approach and the task space approach pursued here is explained. A detailed classification of different control problems in the task space framework is carried out and, finally, a brief description of the experimental setup adopted to validate all the algorithms presented through the book is reported.