Local Stability and Ultimate Boundedness in the Control of Robot Manipulators

Marco A. Arteaga, Alejandro Gutiérrez-Giles, Javier Pliego-Jiménez (Autoren)

Buch | Softcover

XIV, 374 Seiten

2022
Springer International Publishing (Verlag)
978-3-030-85982-4 (ISBN)

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This book offers a unique compendium of the authors´ own research on the use of theoretical stability analysis, showing how to take advantage of local stability design and ultimate boundedness for practical robot control. It addresses researchers and postgraduate students dealing with control theory, particularly with nonlinear systems. Thanks to the numerous worked examples, it could also be used as a textbook in postgraduate courses.

A General Overview of Robot Manipulators.- Position, Orientation and Velocity of Rigid Robot Manipulators.- Dynamics of Rigid Robot Manipulators.- Mathematical Background.- Common Control Approaches for Robot Manipulators.

"The book is stimulating and addressed to a large spectrum of specialists (mechanical, electrical, control engineers and applied mathematicians working in rational mechanics, differential equations and control theory). It can be approached successfully by graduates and post-graduates of the aforementioned fields." (Vladimir Rasvan, zbMATH 1489.93001, 2022)

“The book is stimulating and addressed to a large spectrum of specialists (mechanical, electrical, control engineers and applied mathematicians working in rational mechanics, differential equations and control theory). It can be approached successfully by graduates and post-graduates of the aforementioned fields.” (Vladimir Răsvan, zbMATH 1489.93001, 2022)

Erscheinungsdatum	11.11.2022
Reihe/Serie	Lecture Notes in Electrical Engineering
Zusatzinfo	XIV, 374 p. 180 illus., 158 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Gewicht	593 g
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Mathematik / Informatik ► Mathematik ► Angewandte Mathematik
	Technik ► Elektrotechnik / Energietechnik
Schlagworte	Adaptive vs Robust Control • Control and Observer Design • Force control • Global and Local Stability • observer design • Rigid Robot Manipulators • Telemanipulation • Ultimate Boundedness • Varying Time Delays
ISBN-10	3-030-85982-7 / 3030859827
ISBN-13	978-3-030-85982-4 / 9783030859824
Zustand	Neuware