Adaptive control of robot manipulators a unified regressor-free approach
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Singapore
World Scientific Pub.
©2010
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| Online-Zugang: | FAW01 FAW02 Volltext |
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| Beschreibung: | Includes bibliographical references (pages 247-255) and index 1. Introduction -- 2. Preliminaries. 2.1. Introduction. 2.2. Vector spaces. 2.3. Best approximation problem in Hilbert space. 2.4. Orthogonal functions. 2.5. Vector and matrix analysis. 2.6. Various norms. 2.7. Representations for approximation. 2.8. Lyapunov stability theory. 2.9. Sliding control. 2.10. Model reference adaptive control. 2.11. General uncertainties. 2.12. FAT-based adaptive controller design -- 3. Dynamic equations for robot manipulators. 3.1. Introduction. 3.2. Rigid robot. 3.3. Rigid robot interacting with environment. 3.4. Electrically-driven rigid robot. 3.5. Electrically-driven rigid robot interacting with environment. 3.6. Flexible joint robot. 3.7. Flexible joint robot interacting with environment. 3.8. Electrically-driven flexible joint robot. 3.9. Electrically-driven flexible joint robot interacting with environment -- 4. Adaptive control of rigid robots. 4.1. Introduction. 4.2. Review of conventional adaptive control for rigid robots. 4.3. Slotine and Li's approach. 4.4. The regressor matrix. 4.5. FAT-based adaptive controller design. 4.6. Consideration of actuator dynamics -- 5. Adaptive impedance control of rigid robots. 5.1. Introduction. 5.2. Impedance control and adaptive impedance control. 5.3. Regressor-based adaptive impedance controller design. 5.4. FAT-based adaptive impedance controller design. 5.5. Consideration of actuator dynamics -- 6. Adaptive control of flexible joint robots. 6.1. Introduction. 6.2. Control of known flexible joint robots. 6.3. Regressor-based adaptive control of flexible joint robots. 6.4. FAT-based adaptive control of flexible joint robots. 6.5. Consideration of actuator dynamics -- Adaptive impedance control of flexible joint robots. 7.1. Introduction. 7.2. Impedance control of known flexible joint robots. 7.3. Regressor-based adaptive impedance control of flexible joint robots. 7.4. Regressor-free adaptive impedance control of flexible joint robots. 7.5. Consideration of actuator dynamics This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications |
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| Beschreibung: | 1 Online-Ressource (xi, 262 pages) |
| ISBN: | 9789814307413 9789814307420 9814307416 9814307424 |