| 书目名称 | Task-Space Sensory Feedback Control of Robot Manipulators | | 编辑 | Chien Chern Cheah,Xiang Li | | 视频video | | | 概述 | 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 | | 丛书名称 | Intelligent Systems, Control and Automation: Science and Engineering | | 图书封面 |  | | 描述 | .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 in | | 出版日期 | Book 2015 | | 关键词 | Adaptive Control; Approximate Jacobian Matrix; Dynamic Region; Regional Feedback; Robot Task-Space Contr | | 版次 | 1 | | doi | https://doi.org/10.1007/978-981-287-062-9 | | isbn_softcover | 978-981-10-1352-2 | | isbn_ebook | 978-981-287-062-9Series ISSN 2213-8986 Series E-ISSN 2213-8994 | | issn_series | 2213-8986 | | copyright | Springer Science+Business Media Singapore 2015 |
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发表于 2025-3-21 18:16:35
