E-Book Overview
This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
E-Book Content
Lecture Notes in Control and Information Sciences Editors: M. Thoma · M. Morari
316
R.V. Patel F. Shadpey
Control of Redundant Robot Manipulators Theory and Experiments With 94 Figures
Series Advisory Board F. Allg¨ower · P. Fleming · P. Kokotovic · A.B. Kurzhanski · H. Kwakernaak · A. Rantzer · J.N. Tsitsiklis
Authors Prof. R.V. Patel University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, Ontario Canada N6A 5B9 Dr. F. Shadpey Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, Quebec Canada H4R 1K2
ISSN 0170-8643 ISBN-10 ISBN-13
3-540-25071-9 Springer Berlin Heidelberg New York 978-3-540-25071-5 Springer Berlin Heidelberg New York
Library of Congress Control Number: 2005923294 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and