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Advanced Robot Control

Proceedings of the International Workshop on Nonlinear and Adaptive Control: Issues in Robotics, Grenoble, France, Nov. 21–23, 1990

  • Conference proceedings
  • © 1991

Overview

Editors:
  1. Carlos Canudas de Wit
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 162)

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Table of contents (18 papers)

  1. Front Matter

    Download chapter PDF

  2. Robustness of adaptive control of robots: Theory and experiment

    • Fathi Ghorbel, Alan Fitzmorris, Mark W. Spong
    Pages 1-29

  3. Energy based adaptive robots controller

    • K. El Serafi, W. Khalil
    Pages 30-48

  4. Passivity of robot dynamics implies capability of motor program learning

    • Suguru Arimoto
    Pages 49-68

  5. Adaptive control of robot manipulators via velocity estimated feedback

    • C. Canudas De Wit, N. Fixot
    Pages 69-82

  6. Nonlinear control for the nonholonomic motion of space robot systems

    • Yoshihiko Nakamura, Ranjan Mukherjee
    Pages 83-105

  7. Controllability and state feedback stabilizability of non holonomic mechanical systems

    • G. Campion, B. d'Andrea-Novel, G. Bastin
    Pages 106-124

  8. Velocity and torque feedback control of a nonholonomic cart

    • Claude Samson
    Pages 125-151

  9. Some issues in the control of rigid robots in a sensory space

    • Bernard Espiau, François Chaumette
    Pages 152-171

  10. Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots

    • D. S. Necsulescu
    Pages 172-189

  11. End-effector trajectory tracking in flexible arms: Comparison of approaches based on regulation theory

    • A. De Luca, L. Lanari, G. Ulivi
    Pages 190-206

  12. An inversion procedure for nonlinear time-varying systems

    • M. D. Di Benedetto, P. Lucibello
    Pages 207-215

  13. Positioning control of flexible joint robots

    • Patrizio Tomei
    Pages 216-228

  14. Long range predictive multivariable control of a two links flexible manipulator

    • J. M. Dion, L. Dugard, T. Nguyen thi Thanh
    Pages 229-250

  15. Control of robot manipulators with joints flexibility

    • A. Benallegue, N. K. M'Sirdi
    Pages 251-272

  16. Observers in the control of rigid robots

    • S. Nicosia, A. Tornambè, P. Valigi
    Pages 273-284

  17. Control of robotic systems through singularities

    • Stefano Chiaverini, Lorenzo Sciavicco, Bruno Siciliano
    Pages 285-295

  18. Manipulator control in singular configurations—Motion in degenerate directions

    • Olav Egeland, Inge Spangelo
    Pages 296-306

  19. Controllability issues of robots near singular configurations

    • Lars Nielsen, Carlos Canudas de Wit, Per Hagander
    Pages 307-314
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Keywords

About this book

Research in the area of adaptive control, nonlinear system and other advanced control techniques have been carried out in parallel and rather independently. In the last few years, these techniques have been used to improve robot motion accuracy. The aim of the workshop is to present the most recent contributions in the field of robot control and to compare how these advanced control techniques have been used to solve similar problems. The topics covered include: Adaptation and learning.- Control of systems with nonholonomic constraints (mobile robots).- Robot control in the task space.- Control of flexible robots (joints and structure).- Observer-based control.- Control through kinematic singularities.

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