Control of Robot Manipulators in Joint Space |
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| Author:
| Kelly, R.
Santibanez, V.
Loria, A. |
| Series title: | Advanced Textbooks in Control and Signal Processing Ser. |
| ISBN: | 978-1-85233-994-4 |
| Publication Date: | Jun 2005 |
| Publisher: | Springer London, Limited
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| Imprint: | Springer |
| Book Format: | Paperback |
| List Price: | USD $99.99 |
Book Description:
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This complete textbook addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Other areas of study important to robotics, such as kinematics, receive attention within the case studies, based around a 2-degrees-of-freedom planar articulated arm used throughout to test the controllers under examination by experimentation. Auxiliary resources are...
More DescriptionThis complete textbook addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Other areas of study important to robotics, such as kinematics, receive attention within the case studies, based around a 2-degrees-of-freedom planar articulated arm used throughout to test the controllers under examination by experimentation. Auxiliary resources are available in the form of pdf projector presentations and a pdf solutions manual.