Advanced Robot Control: Proceedings of the International Workshop on Nonlinear and Adaptive Control: Issues in Robotics, Grenoble, France, Nov. 21–23, 1990

ISBN-13: 9783540541691 / Angielski / Miękka / 1991 / 319 str.

Carlos Canudas de Wit

Opis

Research in the area of adaptive control, nonlinear system and other advanced control techniques have been carried out in parallel and rather independently. In the last few years, these techniques have been used to improve robot motion accuracy. The aim of the workshop is to present the most recent contributions in the field of robot control and to compare how these advanced control techniques have been used to solve similar problems. The topics covered include: Adaptation and learning.- Control of systems with nonholonomic constraints (mobile robots).- Robot control in the task space.- Control of flexible robots (joints and structure).- Observer-based control.- Control through kinematic singularities.

Spis treści

Robustness of adaptive control of robots: Theory and experiment.- Energy based adaptive robots controller.- Passivity of robot dynamics implies capability of motor program learning.- Adaptive control of robot manipulators via velocity estimated feedback.- Nonlinear control for the nonholonomic motion of space robot systems.- Controllability and state feedback stabilizability of non holonomic mechanical systems.- Velocity and torque feedback control of a nonholonomic cart.- Some issues in the control of rigid robots in a sensory space.- Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots.- End-effector trajectory tracking in flexible arms: Comparison of approaches based on regulation theory.- An inversion procedure for nonlinear time-varying systems.- Positioning control of flexible joint robots.- Long range predictive multivariable control of a two links flexible manipulator.- Control of robot manipulators with joints flexibility.- Observers in the control of rigid robots.- Control of robotic systems through singularities.- Manipulator control in singular configurations—Motion in degenerate directions.- Controllability issues of robots near singular configurations.