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 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.

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  • 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.

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書名 Control of redundant robot manipulators : theory and experiments
著作者等 Patel, R. V.
Patel Rajnikant V.
Shadpey Farshid
Shadpey F.
シリーズ名 Lecture notes in control and information sciences
出版元 Springer
刊行年月 c2005
ページ数 xiv, 205 p.
大きさ 24 cm
ISBN 3540250719
NCID BA71948464
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言語 英語
出版国 ドイツ