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Task space control

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Book cover Theory of Robot Control

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

Abstract

In the above joint space control schemes, it was assumed that the reference trajectory is available in terms of the time history of joint positions, velocities and accelerations. On the other hand, robot manipulator motions are typically specified in the task space in terms of the time history of end-effector position, velocity and acceleration. This chapter is devoted to control of rigid robot manipulators in the task space.

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Authors
  1. B. Siciliano
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Editor information

Editors and Affiliations

  1. Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble, Rue de la Houille Blanche, Domaine Universitaire, 38402, Saint-Martin-d’Hères, France

    Carlos Canudas de Wit PhD

  2. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano PhD

  3. Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique Appliquée, Université Catholique de Louvain, 4 Avenue G. Lemaître, 1348, Louvain-la-Neuve, Belgium

    Georges Bastin PhD

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© 1996 Springer-Verlag London Limited

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Siciliano, B. (1996). Task space control. In: de Wit, C.C., Siciliano, B., Bastin, G. (eds) Theory of Robot Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-1501-4_3

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  • DOI: https://doi.org/10.1007/978-1-4471-1501-4_3

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1503-8

  • Online ISBN: 978-1-4471-1501-4

  • eBook Packages: Springer Book Archive

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