Title:
Fundamentals for control of robotic manipulators
Personal Author:
Publication Information:
New York : Wiley, 1989
ISBN:
9780471857143
Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
---|---|---|---|---|---|
Searching... | 30000000584262 | TJ211.K64 1989 | Open Access Book | Book | Searching... |
On Order
Summary
Summary
Presents the fundamentals for controlling robot manipulators in a systems theory framework. From the nonlinear models of the manipulator systems, linearized models are obtained, and their basic properties, such as stability and complete controlability, are studied. Gives detailed descriptions of controller design approaches, including PID controllers and adaptive self-tuning controllers. Provides the reader with the basic tools to apply the design methods of system theory to practical applications of robot systems and to achieve competency at the level of research in the area. Features many examples, including digital simulations of manipulator motions, and each chapter contains a set of analytical and computer problems.