By Chien Chern Cheah,Xiang Li
This ebook offers contemporary advances in robotic regulate idea on job house sensory suggestions keep an eye on of robotic manipulators. by utilizing sensory suggestions info, the robotic keep watch over platforms are powerful to numerous uncertainties in modelling and calibration mistakes of the sensors. a number of sensory activity house regulate equipment that don't require distinctive wisdom of both kinematics or dynamics of robots, are awarded. a few valuable equipment resembling approximate Jacobian keep watch over, adaptive Jacobian keep an eye on, zone keep an eye on and a number of job house local suggestions are incorporated. those formulations and techniques provide robots a excessive measure of flexibleness in facing unexpected alterations and uncertainties in its kinematics and dynamics, which is analogous to human attaining activities and gear manipulation. It additionally results in the answer of numerous long-standing difficulties and open matters in robotic keep an eye on, resembling strength keep watch over with constraint uncertainty, keep watch over of multi-fingered robotic hand with doubtful touch issues, singularity factor of Jacobian matrix, worldwide task-space keep watch over, that are additionally awarded during this e-book. the objective viewers for this ebook contains scientists, engineers and practitioners desirous about the sphere of robotic regulate theory.
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Task-Space Sensory Feedback Control of Robot Manipulators (Intelligent Systems, Control and Automation: Science and Engineering) by Chien Chern Cheah,Xiang Li