LEADER 04113nam 22007455 450 001 9910299813203321 005 20200703161307.0 010 $a981-287-062-8 024 7 $a10.1007/978-981-287-062-9 035 $a(CKB)3710000000394765 035 $a(EBL)2096845 035 $a(SSID)ssj0001501287 035 $a(PQKBManifestationID)11896715 035 $a(PQKBTitleCode)TC0001501287 035 $a(PQKBWorkID)11522543 035 $a(PQKB)10819709 035 $a(DE-He213)978-981-287-062-9 035 $a(MiAaPQ)EBC2096845 035 $a(PPN)185489931 035 $a(EXLCZ)993710000000394765 100 $a20150409d2015 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aTask-Space Sensory Feedback Control of Robot Manipulators /$fby Chien Chern Cheah, Xiang Li 205 $a1st ed. 2015. 210 1$aSingapore :$cSpringer Singapore :$cImprint: Springer,$d2015. 215 $a1 online resource (228 p.) 225 1 $aIntelligent Systems, Control and Automation: Science and Engineering,$x2213-8986 ;$v73 300 $aDescription based upon print version of record. 311 $a981-287-061-X 320 $aIncludes bibliographical references. 327 $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. 330 $aThis book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory. 410 0$aIntelligent Systems, Control and Automation: Science and Engineering,$x2213-8986 ;$v73 606 $aControl engineering 606 $aSystem theory 606 $aVibration 606 $aDynamical systems 606 $aDynamics 606 $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010 606 $aSystems Theory, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/M13070 606 $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036 615 0$aControl engineering. 615 0$aSystem theory. 615 0$aVibration. 615 0$aDynamical systems. 615 0$aDynamics. 615 14$aControl and Systems Theory. 615 24$aSystems Theory, Control. 615 24$aVibration, Dynamical Systems, Control. 676 $a519 676 $a620 676 $a629.8 700 $aCheah$b Chien Chern$4aut$4http://id.loc.gov/vocabulary/relators/aut$0720983 702 $aLi$b Xiang$4aut$4http://id.loc.gov/vocabulary/relators/aut 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910299813203321 996 $aTask-Space Sensory Feedback Control of Robot Manipulators$92507772 997 $aUNINA