Publisher: Springer; 1 editionLanguage: English
ISBN: 1852339942
Paperback: 426 pages
Data: August 23, 2005
Format: PDF
Description: Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control".
Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the texts four parts: