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Robust Control of Robots

Fault Tolerant Approaches

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel Bergerman

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
    Pages 1-14
  3. Fully Actuated Robot Manipulators

    1. Front Matter
      Pages 15-15
    2. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 17-34
    3. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 35-58
    4. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 59-73
  4. Fault Tolerant Control of Robot Manipulators

    1. Front Matter
      Pages 75-75
    2. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 77-99
    3. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 101-149
  5. Cooperative Robot Manipulators

    1. Front Matter
      Pages 151-151
    2. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 153-176
    3. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 177-195
    4. Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman
      Pages 197-225
  6. Back Matter
    Pages 227-228

About this book

Introduction

Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts:

  • robust control of regular, fully-actuated robotic manipulators;
  • robust post-failure control of robotic manipulators; and
  • robust control of cooperative robotic manipulators.

In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors.

The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

Keywords

Cooperative Manipulator Fault Tolerant Control Markov Process Markovian Control Nonlinear H∞ Control Robot Manipulator Underactuated Manipulator

Authors and affiliations

  • Adriano A. G. Siqueira
    • 1
  • Marco H. Terra
    • 2
  • Marcel Bergerman
    • 3
  1. 1., Escola de Engenharia de São CarlosUniversidade de São PauloSão CarlosBrazil
  2. 2., Escola de Engenharia de São CarlosUniversidade de São PauloSão CarlosBrazil
  3. 3.CMU Robotics InstitutePittsburghUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-0-85729-898-0
  • Copyright Information Springer-Verlag London Limited 2011
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-0-85729-897-3
  • Online ISBN 978-0-85729-898-0
  • Buy this book on publisher's site