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020 _a9789812870629
024 7 _a10.1007/978-981-287-062-9
_2doi
040 _bspa
_dES-MaUEC
050 4 _aTJ210.2
_b2015 EB
100 1 _aCheah, Chien Chern.
_eautor
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_0http://id.loc.gov/authorities/names/nb2015010164
_1http://viaf.org/viaf/315992283/
245 1 0 _aTask-Space Sensory Feedback Control of Robot Manipulators
_cby Chien Chern Cheah, Xiang Li.
264 1 _aSingapore
_bSpringer International Publishing
_c2015
300 _a1 recurso en línea (VII, 223 páginas 95 ilustraciones, 43 ilustraciones a color.)
336 _2rdacontent
_aTexto (visual)
_btxt
337 _2rdamedia
_aelectrónico
_bc
338 _2rdacarrier
_arecurso electrónico
_bcr
490 0 _aIntelligent Systems, Control and Automation: Science and Engineering,
_x2213-8986 ;
_v73
490 0 _aEngineering (Springer-11647)
505 0 _aIntroduction -- Task-Space Setpoint Control -- Unified Analysis and Duality Property of Task-space Setpoint Control -- Task-Space Tracking Control -- Advanced Motion Control -- Region Control -- Regional Feedback Control of Robot.
520 3 _aThis book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
988 _aEBSPRINGER_2018
650 7 _2embne
_9140106
_aRobots
650 7 _aRobótica
_2embne
_9160676
700 1 _aLi, Xiang.
_eautor
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_0http://id.loc.gov/authorities/names/n83024375
_1http://viaf.org/viaf/39388447/
_1http://dbpedia.org/resource/Li_Han-hsiang
776 0 8 _iEdición impresa:
_z9789812870636
776 0 8 _iEdición impresa:
_z9789812870612
776 0 8 _iEdición impresa:
_z9789811013522
856 4 0 _uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-981-287-062-9
_zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942 _2lcc
_cLE
998 _b05/2019
_dz
_ejf
_zSI