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Control of Redundant Robot Manipulators

Theory and Experiments

  • Book
  • © 2005

Overview

Authors:
  1. R. V. Patel
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  2. F. Shadpey
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  • Comprehensive coverage of control of redundant robot manipulators
  • Good balance between theory and practice
  • Includes experimental work on an actual prototype redundant robot manipulator

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 316)

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Table of contents (9 chapters)

  1. Front Matter

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  2. 1 Introduction

    • R.V. Patel, F. Shadpey
    Pages 1-6

  3. 2 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution

    • R.V. Patel, F. Shadpey
    Pages 7-33

  4. 3 Collision Avoidance for a 7-DOF Redundant Manipulator

    • R.V. Patel, F. Shadpey
    Pages 35-78

  5. 4 Contact Force and Compliant Motion Control

    • R.V. Patel, F. Shadpey
    Pages 79-117

  6. 5 Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator

    • R.V. Patel, F. Shadpey
    Pages 119-145

  7. 6 Experimental Results for Contact Force and Compliant Motion Control

    • R.V. Patel, F. Shadpey
    Pages 147-177

  8. 7 Concluding Remarks

    • R.V. Patel, F. Shadpey
    Pages 179-183

  9. Appendix A: Kinematic and Dynamic Parameters of REDIESTRO

    • R.V. Patel, F. Shadpey
    Pages 185-188

  10. Appendix B: Trajectory Generation (Special Consideration for Orientation)

    • R.V. Patel, F. Shadpey
    Pages 189-192

  11. Back Matter

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Keywords

About this book

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 work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

Reviews

From the reviews of the first edition:

"The monograph is concerned with the position and force control of redundant robot manipulators from both theoretical and experimental points of view. It contains a rich bibliography as well as a full symbol and subject index. Its aim is to provide an introduction for graduate students and researchers in the field of control of redundant robot manipulators. … it is a useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1081, 2006)

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