Beschreibung
InhaltsangabeRobustness of adaptive control of robots: Theory and experiment.- Energy based adaptive robots controller.- Passivity of robot dynamics implies capability of motor program learning.- Adaptive control of robot manipulators via velocity estimated feedback.- Nonlinear control for the nonholonomic motion of space robot systems.- Controllability and state feedback stabilizability of non holonomic mechanical systems.- Velocity and torque feedback control of a nonholonomic cart.- Some issues in the control of rigid robots in a sensory space.- Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots.- End-effector trajectory tracking in flexible arms: Comparison of approaches based on regulation theory.- An inversion procedure for nonlinear time-varying systems.- Positioning control of flexible joint robots.- Long range predictive multivariable control of a two links flexible manipulator.- Control of robot manipulators with joints flexibility.- Observers in the control of rigid robots.- Control of robotic systems through singularities.- Manipulator control in singular configurations-Motion in degenerate directions.- Controllability issues of robots near singular configurations.
Herstellerkennzeichnung:
Springer Verlag GmbH
Tiergartenstr. 17
69121 Heidelberg
DE
E-Mail: juergen.hartmann@springer.com
