Fundamentals for Control of Robotic Manipulators

by Antti J. Koivo

Book Overview

Presents the fundamentals for controlling robot manipulators in a systems theory framework. From the nonlinear models of the manipulator systems, linearized models are obtained, and their basic properties, such as stability and complete controlability, are studied. Gives detailed descriptions of controller design approaches, including PID controllers and adaptive self-tuning controllers. Provides the reader with the basic tools to apply the design...

• Format: Hardcover
• Language: English
• ISBN: 0471857149
• ISBN13: 9780471857143
• Release Date: June 1989
• Publisher: Wiley
• Length: 468 Pages
• Weight: 1.90 lbs.