Ebook: Theory of Robot Control

The advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza­ tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur­ performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new control techniques that have been developed on purpose. Most of those results, although widely spread, are nowadays rather dispersed in different journals and conference proceedings. The purpose of this book is to collect some of the most fundamental and current results on theory of robot control in a unified framework, by editing, improving and completing previous works in the area.

---

This study presents the latest research results in the theory of robot control. In three major parts the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. The way the text is organised echoes the gradual development of robot control in the last fifteen years. Most of the results on rigid robot manipulators in part I are now well established with the exception of constrained motion control. For flexible manipulators in part II, some problems still remain unresolved, especially those related to flexible links. PartIII deals with the control of mobile robots, a challenging area for future research. The appendix reviews basic definitions and the mathematical background for control theory. The particular combination of topics makes this publication an invaluable source of information for graduate students and researchers.

---

This study presents the latest research results in the theory of robot control. In three major parts the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. The way the text is organised echoes the gradual development of robot control in the last fifteen years. Most of the results on rigid robot manipulators in part I are now well established with the exception of constrained motion control. For flexible manipulators in part II, some problems still remain unresolved, especially those related to flexible links. PartIII deals with the control of mobile robots, a challenging area for future research. The appendix reviews basic definitions and the mathematical background for control theory. The particular combination of topics makes this publication an invaluable source of information for graduate students and researchers.
Content:
Front Matter....Pages i-xvi
Front Matter....Pages 1-1
Modelling and identification....Pages 3-58
Joint space control....Pages 59-114
Task space control....Pages 115-139
Motion and force control....Pages 141-175
Front Matter....Pages 177-177
Elastic joints....Pages 179-217
Flexible links....Pages 219-261
Front Matter....Pages 263-263
Modelling and structural properties....Pages 265-306
Feedback linearization....Pages 307-330
Nonlinear feedback control....Pages 331-361
Back Matter....Pages 363-392