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Theory of Robot Control

  • Book
  • © 1996

Overview

Editors:
  1. Carlos Canudas Wit

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

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  2. Bruno Siciliano

    1. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Napoli, Italy

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  3. Georges Bastin

    1. Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique Appliquée, Université Catholique de Louvain, Louvain-la-Neuve, Belgium

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  • The most important results from current research within a single unified framework
  • The result of a close co-operative project by the Zodiac, a group of twelve researchers from France, Italy and Belgium

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

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xvi
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  2. Rigid manipulators

    1. Front Matter

      Pages 1-1
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    2. Modelling and identification

      • W. Khalil, B. Siciliano
      Pages 3-58

    3. Joint space control

      • B. Brogliato, C. Canudas de Wit
      Pages 59-114

    4. Task space control

      • B. Siciliano
      Pages 115-139

    5. Motion and force control

      • A. De Luca, B Siciliano
      Pages 141-175

  3. Flexible manipulators

    1. Front Matter

      Pages 177-177
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    2. Elastic joints

      • A. De Luca, P. Tomei
      Pages 179-217

    3. Flexible links

      • A. De Luca, B. Siciliano
      Pages 219-261

  4. Mobile robots

    1. Front Matter

      Pages 263-263
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    2. Modelling and structural properties

      • G. Bastin, G. Campion, B. d’Andrea-Novel
      Pages 265-306

    3. Feedback linearization

      • G. Bastin, G. Campion, B. d’Andrea-Novel
      Pages 307-330

    4. Nonlinear feedback control

      • C. Canudas de Wit, C. Samson
      Pages 331-361

  5. Back Matter

    Pages 363-392
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Keywords

About this book

The advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza­ tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur­ performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new control techniques that have been developed on purpose. Most of those results, although widely spread, are nowadays rather dispersed in different journals and conference proceedings. The purpose of this book is to collect some of the most fundamental and current results on theory of robot control in a unified framework, by editing, improving and completing previous works in the area.

Editors and Affiliations

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

    Carlos Canudas Wit

  • Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

  • Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique Appliquée, Université Catholique de Louvain, Louvain-la-Neuve, Belgium

    Georges Bastin

Bibliographic Information

  • Book Title: Theory of Robot Control

  • Editors: Carlos Canudas Wit, Bruno Siciliano, Georges Bastin

  • Series Title: Communications and Control Engineering

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

  • Publisher: Springer London

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London Limited 1996

  • Softcover ISBN: 978-1-4471-1503-8Published: 12 February 2012

  • eBook ISBN: 978-1-4471-1501-4Published: 06 December 2012

  • Series ISSN: 0178-5354

  • Series E-ISSN: 2197-7119

  • Edition Number: 1

  • Number of Pages: XVI, 392

  • Topics: Control and Systems Theory, Robotics and Automation

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