Emerald Group Publishing Limited
Copyright © 2004, Emerald Group Publishing Limited
This book addresses the fundamental concepts of control theory and robot dynamics. It comprises ten chapters and three appendices, and is suitable for students, researchers, and practising engineers.
Chapter 1 discusses Commercial Robot Manipulators, while Chapter 2 provides an Introduction to Control Theory. Robot Dynamics, and Computed‐Torque Control are presented in Chapters 3 and 4, respectively.
Methods for robust control and adaptive control of robotic manipulators are addressed in Chapters 5 and 6, while Chapter 7 discusses Advanced Control Techniques. The following two chapters address Neural Network Control of Robots, and Force Control, respectively. The final chapter of the book provides an overview of Robot Control Implementation and Software.
The three appendices provide further information on robot kinematics and Jacobians, software for controller simulation, and dynamics of some common robotic arms.