Control of Redundant Robot Manipulators Theory and Experiments /

This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental w...

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Bibliographic Details
Call Number:Libro Electrónico
Main Authors: Patel, Rajni V. (Author), Shadpey, F. (Author)
Corporate Author: SpringerLink (Online service)
Format: Electronic eBook
Language:Inglés
Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2005.
Edition:1st ed. 2005.
Series:Lecture Notes in Control and Information Sciences, 316
Subjects:
Control engineering.
Artificial intelligence.
Robotics.
Automation.
Control and Systems Theory.
Artificial Intelligence.
Control, Robotics, Automation.
Online Access:Texto Completo
Table of Contents:
  • Introduction
  • Redundant Manipulators: Kinematic Analysis and Redundancy Resolution
  • Collision Avoidance for a 7-DOF Redundant Manipulator
  • Contact Force and Compliant Motion Control
  • Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator
  • Experimental Results for Contact Force and Complaint Motion Control
  • Concluding Remarks.

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