1 Introduction

  • R.V. Patel
  • F. Shadpey
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 316)


The problem of position control of robot manipulators was addressed in the 1970’s to develop control schemes capable of controlling a manipulator’s motion in its workspace. In the 1980’s, extension of robotic applications to new non-conventional areas, such as space, underwater, hazardous environments, and micro-robotics brought new challenges for robotics researchers. The goal was to develop control schemes capable of controlling a robot in performing tasks that required: (1) interaction with its environment; (2) dexterity comparable to that provided by the human arm.


Collision Avoidance Redundant Manipulator Position Control Strategy Redundancy Resolution Redundant Robot Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Authors and Affiliations

  • R.V. Patel
    • 1
  • F. Shadpey
    • 2
  1. 1.University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, OntarioCanada N6A 5B9
  2. 2.Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, QuebecCanada H4R 1K2

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