Local Stability and Ultimate Boundedness in the Control of Robot Manipulators [Paperback]

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 Rsvan, zbMATH 1489.93001, 2022)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.Shows how to usetheoretical stability analysis for controllingrobot manipulators Many of the control schemes presented in the book can be used in industrial applications Includes worked examples and exercises