Theory of Robot Control [Paperback]

A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.The ZODIACThe advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza? tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur? performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new l“+