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Fundamentals for Control of Robotic Manipulators

By (author) Antti J. Koivo
Genres: Robotics
Format: Hardback
Publisher: John Wiley and Sons Ltd, New York, United States
Imprint: John Wiley and Sons (WIE)
Published: 26th Jul 1989
Dimensions: w 43mm h 70mm d 31mm
Weight: 794g
ISBN-10: 0471857149
ISBN-13: 9780471857143
Barcode No: 9780471857143
The fundamentals for controlling robot manipulators in a systems theory framework are presented in this book. From the nonlinear models of the manipulator systems, linearized models are obtained, and their basic properties, such as stability and complete controllability, are studied. The text gives detailed descriptions of controller design approaches, including PID controllers and adaptive self-tuning controllers. It provides the reader with the basic tools to apply the design methods of system theory to practical applications of robot sytems, and to achieve competency at the level of research in the area. Many examples are given, including digital simulations of manipulator motions, and each chapter contains a set of analytical and computer problems. The text will benefit electrical engineers, mechanical and civil engineers and computer scientists.

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