Control of Robot Manipulators in Joint Space 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. Combinations of the text s four parts: robot dynamics and mathematical preliminaries; set-point model-based control; tracking model-based control; and adaptive and velocity-independent control create a complete course in robot control based on joint space for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm used throughout to test the controllers under examination by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual.The rest of the book (about 70%) is devoted to the study of a number of robot controllers, each of which is presented in a separate chapter. ... Further, support material for class-presentation slides for the lecturer and problemsa#39; solutions manual- are available in electronic ... We have taken care to invoke a strictly minimum number of mathematical terms and these are mostly explained when introduced.

Title | : | Control of Robot Manipulators in Joint Space |

Author | : | Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez |

Publisher | : | Springer Science & Business Media - 2006-03-30 |

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