Non-Adaptive and Adaptive Control of Manipulation Robots

Non-Adaptive and Adaptive Control of Manipulation Robots

EnglishPaperback / softback
Vukobratovic M.
Springer, Berlin
EAN: 9783642822032
Unavailable at the publisher, title sold out
Unknown delivery date
CZK 2,633
Common price CZK 2,925
Discount 10%
Do you want this product today?
Oxford Bookshop Praha Korunní
not available
Librairie Francophone Praha Štěpánská
not available
Oxford Bookshop Ostrava
not available
Oxford Bookshop Olomouc
not available
Oxford Bookshop Plzeň
not available
Oxford Bookshop Brno
not available
Oxford Bookshop Hradec Králové
not available
Oxford Bookshop České Budějovice
not available

Detailed information

The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula­ tion robots. Compared with Vol. 2, this monograph has three essential new character­ istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer­ tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.
EAN 9783642822032
ISBN 3642822037
Binding Paperback / softback
Publisher Springer, Berlin
Publication date December 22, 2011
Pages 384
Language English
Dimensions 244 x 170
Country Germany
Readership Professional & Scholarly
Authors Kircanski N.; Stokic, D.; Vukobratovic M.
Illustrations X, 384 p.
Edition Softcover reprint of the original 1st ed. 1985
Series Scientific Fundamentals of Robotics