Control of redundant robot manipulators : theory and experiments / R.V. Patel, F. Shadpey.
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 w...
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Full Text (via Springer) |
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| Format: | eBook |
| Language: | English |
| Published: |
Berlin ; New York :
Springer,
©2005.
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| Series: | Lecture notes in control and information sciences ;
316. |
| Subjects: |
Table of Contents:
- Introduction
- Redundant Manipulators: Kinematic Analysis and Redundancy Resolution
- Collision Avoidance for a 7-DOF Redundant Manipulator
- Contact Force and Compliant Motion Control
- Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator
- Experimental Results for Contact Force and Complaint Motion Control
- Concluding Remarks.