Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach

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World Scientific, 2010 - Technology & Engineering - 276 pages
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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.
 

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Contents

1 Introduction
1
2 Preliminaries
11
3 Dynamic Equations for Robot Manipulators
71
4 Adaptive Control of Rigid Robots
83
5 Adaptive Impedance Control of Rigid Robots
129
6 Adaptive Control of Flexible Joint Robots
163
7 Adaptive Impedance Control of Flexible Joint Robots
201
Appendix
241
References
247
Symbols Definitions and Abbreviations
257
Index
261
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