Lecture Notes in Control and Information Sciences

Control of Redundant Robot Manipulators

Theory and Experiments

Authors: Patel, Rajni V., Shadpey, F.

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  • ISBN 978-3-540-31591-9
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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)


Table of contents (9 chapters)

Table of contents (9 chapters)
  • 1 Introduction

    Pages 1-6

    Patel, R.V. (et al.)

  • 2 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution

    Pages 7-33

    Patel, R.V. (et al.)

  • 3 Collision Avoidance for a 7-DOF Redundant Manipulator

    Pages 35-78

    Patel, R.V. (et al.)

  • 4 Contact Force and Compliant Motion Control

    Pages 79-117

    Patel, R.V. (et al.)

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

    Pages 119-145

    Patel, R.V. (et al.)

Buy this book

eBook $169.00
price for USA in USD
  • The eBook version of this title will be available soon
  • ISBN 978-3-540-31591-9
  • Digitally watermarked, DRM-free
  • Included format:
  • Immediate eBook download after purchase and usable on all devices
  • Bulk discounts available
Softcover $219.99
price for USA in USD
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Bibliographic Information

Bibliographic Information
Book Title
Control of Redundant Robot Manipulators
Book Subtitle
Theory and Experiments
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
316
Copyright
2005
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-31591-9
DOI
10.1007/b93979
Softcover ISBN
978-3-540-25071-5
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XIV, 205
Number of Illustrations
94 b/w illustrations
Topics