Control of Redundant Robot Manipulators [electronic resource] : Theory and Experiments / by Rajni V. Patel, F. Shadpey.Material type: TextSeries: Lecture Notes in Control and Information Sciences ; 316Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2005Edition: 1st ed. 2005Description: XIV, 205 p. 94 illus. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9783540315919Subject(s): Control engineering | Artificial intelligence | Robotics | Mechatronics | Control and Systems Theory | Artificial Intelligence | Control, Robotics, MechatronicsAdditional physical formats: Printed edition:: No title; Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ212-225Online resources: Click here to access online
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Introduction -- Redundant Manipulators: Kinematic Analysis and Redundancy Resolution -- Collision Avoidance for a 7-DOF Redundant Manipulator -- Contact Force and Compliant Motion Control -- Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator -- Experimental Results for Contact Force and Complaint Motion Control -- Concluding Remarks.
This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.