Table of contents

  1. Front Matter
  2. Pages 1-39
  3. Pages 57-83
  4. Pages 84-103
  5. Pages 104-133
  6. Pages 134-161
  7. Pages 162-169
  8. Back Matter

About this book


This monograph considers the integration of knowledge-based soft control with hard control algorithms. As a specific application, the development of a knowledge-based controller for robotic manipulators is addressed. Servo control alone is known to be inadequate for nonlinear and high-speed processes including robots. Furthermore, knowledge-based control such as fuzzy control, when directly included in the servo loop, has produced insatisfactory performance in research robots. These considerations, along with the fact that human experts can very effectively perform tuning functions in process controllers, form the basis for the control structure proposed in this work. The book is suitable for students, researchers and practising professionals in the fields of Automatic Control and Robotics. The material is presented in simple and clear language with sufficient introductory information. Someone with an undergraduate knowledge in dynamics and control should be able to use the book without any difficulty.


algorithm algorithms automatic control control control algorithm fuzzy fuzzy control fuzzy logic knowledge process control robot robotics system

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag 1989
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-540-51143-4
  • Online ISBN 978-3-540-46168-5
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
  • Buy this book on publisher's site