Task-Space Sensory Feedback Control of Robot Manipulators

  • Chien Chern Cheah
  • Xiang Li

Table of contents

  1. Front Matter
    Pages i-vii
  2. Chien Chern Cheah, Xiang Li
    Pages 1-20
  3. Chien Chern Cheah, Xiang Li
    Pages 21-61
  4. Chien Chern Cheah, Xiang Li
    Pages 63-89
  5. Chien Chern Cheah, Xiang Li
    Pages 91-122
  6. Chien Chern Cheah, Xiang Li
    Pages 123-171
  7. Chien Chern Cheah, Xiang Li
    Pages 173-214
  8. Back Matter
    Pages 215-223

About this book


This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.


Adaptive Control Approximate Jacobian Matrix Dynamic Region Regional Feedback Robot Task-Space Control Vision-Based Control

Authors and affiliations

  • Chien Chern Cheah
    • 1
  • Xiang Li
    • 2
  1. 1.Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media Singapore 2015
  • Publisher Name Springer, Singapore
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-981-287-061-2
  • Online ISBN 978-981-287-062-9
  • Series Print ISSN 2213-8986
  • Series Online ISSN 2213-8994
  • Buy this book on publisher's site