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Intelligent Systems, Control and Automation: Science and Engineering

Task-Space Sensory Feedback Control of Robot Manipulators

Authors: Cheah, Chien Chern, Li, Xiang

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  • Summarizes the latest studies in task-space control of robotic manipulator
  • Introduces many new concepts for robot task-space control
  • Covers different adaptive robot task-space controllers with various uncertainties
  • Includes many examples which make the proposed methods and techniques more understandable and accessible
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  • ISBN 978-981-287-062-9
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Hardcover $169.99
price for USA in USD
  • ISBN 978-981-287-061-2
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  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
Softcover $129.99
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  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week). Pre-ordered printed titles are excluded from promotions.
  • Due: November 18, 2016
  • ISBN 978-981-10-1352-2
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
About this book

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.

About the authors

Chien Chern CHEAH was born in Singapore. He received B.Eng. degree in Electrical Engineering from National University of Singapore in 1990, M.Eng. and Ph.D. degrees in Electrical Engineering, both from Nanyang Technological University, Singapore, in 1993 and 1996, respectively. From 1990 to 1991, he worked as a design engineer in Chartered Electronics Industries, Singapore. He was a research fellow in the Department of Robotics, Ritsumeikan University, Japan from 1996 to 1998. He joined the School of Electrical and Electronic Engineering, Nanyang Technological University as an assistant professor in 1998. Since 2003, he has been an associate professor in Nanyang Technological University. In November 2002, he received the oversea attachment fellowship from the Agency for Science, Technology and Research (A*STAR), Singapore to visit the Nonlinear Systems laboratory, Massachusetts Institute of Technology. He serves as an associate editor for IEEE Transactions on Robotics, Automatica and Asian Journal of Control.

Xiang LI received the Bachelor, Master and PhD degrees from Beijing Institute of Technology, and Nanyang Technological University in 2006, 2008, and 2013 respectively. He is currently working as a Research Associate at the Intelligent Robotics Lab, Nanyang Technological University, Singapore. He has served as a reviewer for several international journals including Automatica, IEEE Transactions on Mechatronics, IEEE Transactions on Robotics, and Asian Journal of Control. He is an editor of Journal of Control and Systems Engineering. His current research interests include robot control, visual servoing, and cell manipulation.

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook $99.00
price for USA in USD
  • ISBN 978-981-287-062-9
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.99
price for USA in USD
  • ISBN 978-981-287-061-2
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
Softcover $129.99
price for USA in USD
  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week). Pre-ordered printed titles are excluded from promotions.
  • Due: November 18, 2016
  • ISBN 978-981-10-1352-2
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
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Bibliographic Information

Bibliographic Information
Book Title
Task-Space Sensory Feedback Control of Robot Manipulators
Authors
Series Title
Intelligent Systems, Control and Automation: Science and Engineering
Series Volume
73
Copyright
2015
Publisher
Springer Singapore
Copyright Holder
Springer Science+Business Media Singapore
eBook ISBN
978-981-287-062-9
DOI
10.1007/978-981-287-062-9
Hardcover ISBN
978-981-287-061-2
Softcover ISBN
978-981-10-1352-2
Series ISSN
2213-8986
Edition Number
1
Number of Pages
VII, 223
Number of Illustrations
52 b/w illustrations, 43 illustrations in colour
Topics