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

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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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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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.
Content:
Front Matter....Pages -
Robustness of adaptive control of robots: Theory and experiment....Pages 1-29
Energy based adaptive robots controller....Pages 30-48
Passivity of robot dynamics implies capability of motor program learning....Pages 49-68
Adaptive control of robot manipulators via velocity estimated feedback....Pages 69-82
Nonlinear control for the nonholonomic motion of space robot systems....Pages 83-105
Controllability and state feedback stabilizability of non holonomic mechanical systems....Pages 106-124
Velocity and torque feedback control of a nonholonomic cart....Pages 125-151
Some issues in the control of rigid robots in a sensory space....Pages 152-171
Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots....Pages 172-189
End-effector trajectory tracking in flexible arms: Comparison of approaches based on regulation theory....Pages 190-206
An inversion procedure for nonlinear time-varying systems....Pages 207-215
Positioning control of flexible joint robots....Pages 216-228
Long range predictive multivariable control of a two links flexible manipulator....Pages 229-250
Control of robot manipulators with joints flexibility....Pages 251-272
Observers in the control of rigid robots....Pages 273-284
Control of robotic systems through singularities....Pages 285-295
Manipulator control in singular configurations—Motion in degenerate directions....Pages 296-306
Controllability issues of robots near singular configurations....Pages 307-314

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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.
Content:
Front Matter....Pages -
Robustness of adaptive control of robots: Theory and experiment....Pages 1-29
Energy based adaptive robots controller....Pages 30-48
Passivity of robot dynamics implies capability of motor program learning....Pages 49-68
Adaptive control of robot manipulators via velocity estimated feedback....Pages 69-82
Nonlinear control for the nonholonomic motion of space robot systems....Pages 83-105
Controllability and state feedback stabilizability of non holonomic mechanical systems....Pages 106-124
Velocity and torque feedback control of a nonholonomic cart....Pages 125-151
Some issues in the control of rigid robots in a sensory space....Pages 152-171
Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots....Pages 172-189
End-effector trajectory tracking in flexible arms: Comparison of approaches based on regulation theory....Pages 190-206
An inversion procedure for nonlinear time-varying systems....Pages 207-215
Positioning control of flexible joint robots....Pages 216-228
Long range predictive multivariable control of a two links flexible manipulator....Pages 229-250
Control of robot manipulators with joints flexibility....Pages 251-272
Observers in the control of rigid robots....Pages 273-284
Control of robotic systems through singularities....Pages 285-295
Manipulator control in singular configurations—Motion in degenerate directions....Pages 296-306
Controllability issues of robots near singular configurations....Pages 307-314
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