Adaptive control of robot manipulators: a unified regressor-free approach
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Singapore
World Scientific Pub.
©2010
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| Schlagworte: | |
| Online-Zugang: | FAW01 FAW02 Volltext |
| Beschreibung: | Includes bibliographical references (pages 247-255) and index 1. Introduction -- 2. Preliminaries. 2.1. Introduction. 2.2. Vector spaces. 2.3. Best approximation problem in Hilbert space. 2.4. Orthogonal functions. 2.5. Vector and matrix analysis. 2.6. Various norms. 2.7. Representations for approximation. 2.8. Lyapunov stability theory. 2.9. Sliding control. 2.10. Model reference adaptive control. 2.11. General uncertainties. 2.12. FAT-based adaptive controller design -- 3. Dynamic equations for robot manipulators. 3.1. Introduction. 3.2. Rigid robot. 3.3. Rigid robot interacting with environment. 3.4. Electrically-driven rigid robot. 3.5. Electrically-driven rigid robot interacting with environment. 3.6. Flexible joint robot. 3.7. Flexible joint robot interacting with environment. 3.8. Electrically-driven flexible joint robot. 3.9. Electrically-driven flexible joint robot interacting with environment -- 4. Adaptive control of rigid robots. 4.1. Introduction. 4.2. Review of conventional adaptive control for rigid robots. 4.3. Slotine and Li's approach. 4.4. The regressor matrix. 4.5. FAT-based adaptive controller design. 4.6. Consideration of actuator dynamics -- 5. Adaptive impedance control of rigid robots. 5.1. Introduction. 5.2. Impedance control and adaptive impedance control. 5.3. Regressor-based adaptive impedance controller design. 5.4. FAT-based adaptive impedance controller design. 5.5. Consideration of actuator dynamics -- 6. Adaptive control of flexible joint robots. 6.1. Introduction. 6.2. Control of known flexible joint robots. 6.3. Regressor-based adaptive control of flexible joint robots. 6.4. FAT-based adaptive control of flexible joint robots. 6.5. Consideration of actuator dynamics -- Adaptive impedance control of flexible joint robots. 7.1. Introduction. 7.2. Impedance control of known flexible joint robots. 7.3. Regressor-based adaptive impedance control of flexible joint robots. 7.4. Regressor-free adaptive impedance control of flexible joint robots. 7.5. Consideration of actuator dynamics This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications |
| Beschreibung: | 1 Online-Ressource (xi, 262 pages) |
| ISBN: | 9789814307413 9789814307420 9814307416 9814307424 |
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| 245 | 1 | 0 | |a Adaptive control of robot manipulators |b a unified regressor-free approach |c An-Chuyau Huang, Ming-Chih Chien |
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| 500 | |a Includes bibliographical references (pages 247-255) and index | ||
| 500 | |a 1. Introduction -- 2. Preliminaries. 2.1. Introduction. 2.2. Vector spaces. 2.3. Best approximation problem in Hilbert space. 2.4. Orthogonal functions. 2.5. Vector and matrix analysis. 2.6. Various norms. 2.7. Representations for approximation. 2.8. Lyapunov stability theory. 2.9. Sliding control. 2.10. Model reference adaptive control. 2.11. General uncertainties. 2.12. FAT-based adaptive controller design -- 3. Dynamic equations for robot manipulators. 3.1. Introduction. 3.2. Rigid robot. 3.3. Rigid robot interacting with environment. 3.4. Electrically-driven rigid robot. 3.5. Electrically-driven rigid robot interacting with environment. 3.6. Flexible joint robot. 3.7. Flexible joint robot interacting with environment. 3.8. Electrically-driven flexible joint robot. 3.9. Electrically-driven flexible joint robot interacting with environment -- 4. Adaptive control of rigid robots. 4.1. Introduction. 4.2. Review of conventional adaptive control for rigid robots. 4.3. Slotine and Li's approach. 4.4. The regressor matrix. 4.5. FAT-based adaptive controller design. 4.6. Consideration of actuator dynamics -- 5. Adaptive impedance control of rigid robots. 5.1. Introduction. 5.2. Impedance control and adaptive impedance control. 5.3. Regressor-based adaptive impedance controller design. 5.4. FAT-based adaptive impedance controller design. 5.5. Consideration of actuator dynamics -- 6. Adaptive control of flexible joint robots. 6.1. Introduction. 6.2. Control of known flexible joint robots. 6.3. Regressor-based adaptive control of flexible joint robots. 6.4. FAT-based adaptive control of flexible joint robots. 6.5. Consideration of actuator dynamics -- Adaptive impedance control of flexible joint robots. 7.1. Introduction. 7.2. Impedance control of known flexible joint robots. 7.3. Regressor-based adaptive impedance control of flexible joint robots. 7.4. Regressor-free adaptive impedance control of flexible joint robots. 7.5. Consideration of actuator dynamics | ||
| 500 | |a This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications | ||
| 650 | 4 | |a Engineering | |
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| 700 | 1 | |a Chien, Ming-Chih |e Sonstige |4 oth | |
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Datensatz im Suchindex
| _version_ | 1804175626201989120 |
|---|---|
| any_adam_object | |
| author | Huang, An-Chyau |
| author_facet | Huang, An-Chyau |
| author_role | aut |
| author_sort | Huang, An-Chyau |
| author_variant | a c h ach |
| building | Verbundindex |
| bvnumber | BV043158466 |
| collection | ZDB-4-EBA |
| ctrlnum | (OCoLC)681787161 (DE-599)BVBBV043158466 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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| id | DE-604.BV043158466 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T07:19:16Z |
| institution | BVB |
| isbn | 9789814307413 9789814307420 9814307416 9814307424 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028582657 |
| oclc_num | 681787161 |
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| owner_facet | DE-1046 DE-1047 |
| physical | 1 Online-Ressource (xi, 262 pages) |
| psigel | ZDB-4-EBA ZDB-4-EBA FAW_PDA_EBA |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | World Scientific Pub. |
| record_format | marc |
| spelling | Huang, An-Chyau Verfasser aut Adaptive control of robot manipulators a unified regressor-free approach An-Chuyau Huang, Ming-Chih Chien Singapore World Scientific Pub. ©2010 1 Online-Ressource (xi, 262 pages) txt rdacontent c rdamedia cr rdacarrier Includes bibliographical references (pages 247-255) and index 1. Introduction -- 2. Preliminaries. 2.1. Introduction. 2.2. Vector spaces. 2.3. Best approximation problem in Hilbert space. 2.4. Orthogonal functions. 2.5. Vector and matrix analysis. 2.6. Various norms. 2.7. Representations for approximation. 2.8. Lyapunov stability theory. 2.9. Sliding control. 2.10. Model reference adaptive control. 2.11. General uncertainties. 2.12. FAT-based adaptive controller design -- 3. Dynamic equations for robot manipulators. 3.1. Introduction. 3.2. Rigid robot. 3.3. Rigid robot interacting with environment. 3.4. Electrically-driven rigid robot. 3.5. Electrically-driven rigid robot interacting with environment. 3.6. Flexible joint robot. 3.7. Flexible joint robot interacting with environment. 3.8. Electrically-driven flexible joint robot. 3.9. Electrically-driven flexible joint robot interacting with environment -- 4. Adaptive control of rigid robots. 4.1. Introduction. 4.2. Review of conventional adaptive control for rigid robots. 4.3. Slotine and Li's approach. 4.4. The regressor matrix. 4.5. FAT-based adaptive controller design. 4.6. Consideration of actuator dynamics -- 5. Adaptive impedance control of rigid robots. 5.1. Introduction. 5.2. Impedance control and adaptive impedance control. 5.3. Regressor-based adaptive impedance controller design. 5.4. FAT-based adaptive impedance controller design. 5.5. Consideration of actuator dynamics -- 6. Adaptive control of flexible joint robots. 6.1. Introduction. 6.2. Control of known flexible joint robots. 6.3. Regressor-based adaptive control of flexible joint robots. 6.4. FAT-based adaptive control of flexible joint robots. 6.5. Consideration of actuator dynamics -- Adaptive impedance control of flexible joint robots. 7.1. Introduction. 7.2. Impedance control of known flexible joint robots. 7.3. Regressor-based adaptive impedance control of flexible joint robots. 7.4. Regressor-free adaptive impedance control of flexible joint robots. 7.5. Consideration of actuator dynamics This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications Engineering Mechanical engineering TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems / Design and construction fast Robots, Industrial / Design and construction fast Robots / Motion / Mathematical models fast Ingenieurwissenschaften Mathematisches Modell Robots Control systems Design and construction Robots Motion Mathematical models Robots, Industrial Design and construction Chien, Ming-Chih Sonstige oth http://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&db=nlabk&AN=340773 Aggregator Volltext |
| spellingShingle | Huang, An-Chyau Adaptive control of robot manipulators a unified regressor-free approach Engineering Mechanical engineering TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems / Design and construction fast Robots, Industrial / Design and construction fast Robots / Motion / Mathematical models fast Ingenieurwissenschaften Mathematisches Modell Robots Control systems Design and construction Robots Motion Mathematical models Robots, Industrial Design and construction |
| title | Adaptive control of robot manipulators a unified regressor-free approach |
| title_auth | Adaptive control of robot manipulators a unified regressor-free approach |
| title_exact_search | Adaptive control of robot manipulators a unified regressor-free approach |
| title_full | Adaptive control of robot manipulators a unified regressor-free approach An-Chuyau Huang, Ming-Chih Chien |
| title_fullStr | Adaptive control of robot manipulators a unified regressor-free approach An-Chuyau Huang, Ming-Chih Chien |
| title_full_unstemmed | Adaptive control of robot manipulators a unified regressor-free approach An-Chuyau Huang, Ming-Chih Chien |
| title_short | Adaptive control of robot manipulators |
| title_sort | adaptive control of robot manipulators a unified regressor free approach |
| title_sub | a unified regressor-free approach |
| topic | Engineering Mechanical engineering TECHNOLOGY & ENGINEERING / Robotics bisacsh Robots / Control systems / Design and construction fast Robots, Industrial / Design and construction fast Robots / Motion / Mathematical models fast Ingenieurwissenschaften Mathematisches Modell Robots Control systems Design and construction Robots Motion Mathematical models Robots, Industrial Design and construction |
| topic_facet | Engineering Mechanical engineering TECHNOLOGY & ENGINEERING / Robotics Robots / Control systems / Design and construction Robots, Industrial / Design and construction Robots / Motion / Mathematical models Ingenieurwissenschaften Mathematisches Modell Robots Control systems Design and construction Robots Motion Mathematical models Robots, Industrial Design and construction |
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| work_keys_str_mv | AT huanganchyau adaptivecontrolofrobotmanipulatorsaunifiedregressorfreeapproach AT chienmingchih adaptivecontrolofrobotmanipulatorsaunifiedregressorfreeapproach |