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Über dieses Buch

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 involved in the field of robot control theory.

Inhaltsverzeichnis

Frontmatter

Chapter 1. Introduction

Abstract
A robotic manipulator consists of rigid links connected by joints, as illustrated in Fig. 1.1.
Chien Chern Cheah, Xiang Li

Chapter 2. Sensory Task-Space Setpoint Control

Abstract
Increasing demand for robotic systems operating in unstructured environments has led to the development of sensory feedback control methods. This chapter introduces the fundamental concepts for design and analysis of task-space sensory feedback control of robotic systems with uncertainty.
Chien Chern Cheah, Xiang Li

Chapter 3. Sensory Task-Space Adaptive Jacobian Control

Abstract
A human being is able to adapt to kinematic uncertainty by learning from previous experience. For example, we can manipulate a tool more skillfully after using it several times.
Chien Chern Cheah, Xiang Li

Chapter 4. Region Control

Abstract
In most human reaching movements, the desired targets are regions with arbitrary shapes rather than points.
Chien Chern Cheah, Xiang Li

Chapter 5. Regional Feedback Control of a Robot

Abstract
Task-space sensory feedback control methods are valid only in a finite task space within a limited sensing zone where singularities of the Jacobian matrix are avoided.
Chien Chern Cheah, Xiang Li

Chapter 6. Sensory Feedback Control of Complex Dynamical Robot Systems

Abstract
Task-space sensory feedback control methods are also effective in dealing with various types of uncertainty in robot systems with more complicated dynamic behavior.
Chien Chern Cheah, Xiang Li

Backmatter

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