High Performance Robust Manipulator Motion Control. Theory, Tools, andExperimental Implementation (Hoge Prestatie Robuuste Regeling van Manipulatorbeweging. Theorie, Gereedschappen, en Experimentele Implementatie)

摘要

;Contents: Introduction; Basic design and evaluation tools; An approach to multi-layer robot control; Actuator modeling and control; Modeling and compensation of mechanical nonlinearities; Position control; Position-force control; Conclusions and recommendations; Rigid body model of the RRR-robot.