Overview
- Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control
- pdf solutions manual
- Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes
- Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV
- Includes supplementary material: sn.pub/extras
- Request lecturer material: sn.pub/lecturer-material
Part of the book series: Advanced Textbooks in Control and Signal Processing (C&SP)
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Table of contents (20 chapters)
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Front Matter
Keywords
About this book
Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Combinations of the text’s four parts: robot dynamics and mathematical preliminaries; set-point model-based control; tracking model-based control; and adaptive and velocity-independent control create a complete course in robot control based on joint space for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm used throughout to test the controllers under examination by experimentation.
In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual.
Authors and Affiliations
About the authors
Rafael Kelly has occupied teaching positions at National University of Mexico (UNAM)m University of Nuevo León, ITESM, and CICESE Research Center. He has been visiting Professor at the University of Illinois at Urbana-Champaign and INRIA, France. He is the author of more than 130 papers in refereed journals and conference proceedings, most of them devoted to robot control. Professor Kelly is the recipient of many awards and honours among which is the national award of the Mexican Academy of Sciences. He has taught robot control once a year since 1989.
Victor Santibañez spent several years at the Hot Roller Mill Department of Altos Hornos de México, at the Electronics Instrumentation Department of of Metalúrgica Mexicana Peñoles and the Instituto de Automática Industrial del Consejo Superior de Investigación Científica in Madrid. He has taught robot control and adaptive control twice each year at ITL Mexico since 1997. He is also author of about fifty journal and conference papers as well as a book chapter in adaptive control of manipulators.
Antonio Loría has been a research fellow at the University of Twente, NTNU Norway and UCSB, California. Currently, he has a tenure position as Associate Researcher with the National Centre for Scientific Research (CNRS), France. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory; of these publications, more than 20 are on robot control. He is co-author of Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications by R. Ortega, A. Loria, P.J. Nicklasson and H. Sira-Ramirez (1-85233-016-3).
Bibliographic Information
Book Title: Control of Robot Manipulators in Joint Space
Authors: Rafael Kelly, Victor Santibáñez Davila, Antonio Loría
Series Title: Advanced Textbooks in Control and Signal Processing
DOI: https://doi.org/10.1007/b135572
Publisher: Springer London
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag London 2005
Softcover ISBN: 978-1-85233-994-4Published: 27 June 2005
eBook ISBN: 978-1-85233-999-9Published: 14 December 2007
Series ISSN: 1439-2232
Series E-ISSN: 2510-3814
Edition Number: 1
Number of Pages: XXVI, 426
Number of Illustrations: 110 b/w illustrations
Topics: Electrical Engineering, Control and Systems Theory, Theory of Computation, Control, Robotics, Mechatronics, Simulation and Modeling, Machinery and Machine Elements