Research Catalog

Title

Robot control : dynamics, motion planning, and analysis / edited by Mark W. Spong, F.L. Lewis, C.T. Abdallah.

Publication

New York : Institute of Electrical and Electronics Engineers, [1993], ©1993.

Items in the Library & Off-site

Holdings

Details

Additional Authors

• Spong, Mark W.
• Lewis, Frank L.
• Abdallah, C. T. (Chaouki T.)
• IEEE Control Systems Society.

Description

ix, 539 pages : illustrations; 29 cm

Subject

Robots > Control systems

Note

• "A selected reprint volume."
• "IEEE Control Systems Society, sponsor."
• "IEEE order number: PC0299-8"--T.p. verso.

Bibliography (note)

• Includes bibliographical references and indexes.

Contents

• Introduction / C. T. Abdallah and F. L. Lewis -- Pt. 1. Motion Planning / V. Lumelsky. A New Algebraic Method for Robot Motion Planning and Real Geometry / J. Canny. Motion of Objects in Contact / J. Hopcroft and G. Wilfong. Effect of Kinematics on Motion Planning for Planar Robot Arms Moving Amidst Unknown Obstacles / V. J. Lumelsky. Robot Motion Planning: A Distributed Representation Approach / J. Barraquand and J. C. Latombe -- Pt. 2. Geometric and Asymptotic Methods in Control / M. W. Spong. On Manipulator Control by Exact Linearization / K. Kreutz. Nonlinear Feedback in Robot Arm Control / T. J. Tarn, A. K. Bejczy, A. Isidori and Y. Chen. Dynamic Control of Robots with Joint Elasticity / A. De Luca. Modeling and Control of Elastic Joint Robots / M. W. Spong -- Pt. 3. Robust Control / M. W. Spong. Survey of Robust Control for Rigid Robots / C. Abdallah, D. Dawson, P. Dorato and M. Jamshidi. The Robust Control of Robot Manipulators / J.-J. E. Slotine.
• On L[subscript 2]- and L[actual symbol not reproducible]-Stability Approaches for the Robust Control of Robot Manipulators / N. Becker and W. M. Grimm. Adaptive Model Following Control of Nonlinear Robotic Systems / S. N. Singh -- Pt. 4. Adaptive Control of Robot Manipulators / J.-J. E. Slotine. On the Adaptive Control of Robot Manipulators / J.-J. E. Slotine and W. Li. Adaptive Computed Torque Control for Rigid Link Manipulations / R. H. Middleton and G. C. Goodwin. Stability Analysis of an Adaptive Controller for Robotic Manipulators / N. Sadegh and R. Horowitz. Adaptive Control of Mechanical Manipulators / J. J. Craig, P. Hsu and S. S. Sastry -- Pt. 5. Learning Control / S. Arimoto. Bettering Operation of Robots by Learning / S. Arimoto, S. Kawamura and F. Miyazaki. Adaptive Control of Manipulators Through Repeated Trials / J. J. Craig. Robot Trajectory Learning Through Practice / C. G. Atkeson and J. McIntyre.
• On the Iterative Learning Control Theory for Robotic Manipulators / P. Bondi, G. Casalino and L. Gambardella -- Pt. 6. Time-Optimal Control / K. G. Shin. Minimum-Time Control of Robotic Manipulators with Geometric Path Constraints / K. G. Shin and N. D. McKay. Time-Optimal Control of Robotic Manipulators Along Specified Paths / J. E. Bobrow, S. Dubowsky and J. S. Gibson. Improving the Efficiency of Time-Optimal Path-Following Algorithms / J.-J. E. Slotine and H. S. Yang. Time-Optimal Control of Manipulators / E. D. Sontag and H. J. Sussmann -- Pt. 7. Force and Impedance Control / N. H. McClamroch. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation / O. Khatib. Hybrid Impedance Control of Robotic Manipulators / R. J. Anderson and M. W. Spong. Feedback Stabilization and Tracking of Constrained Robots / N. H. McClamroch and D. Wang.
• Force and Position Control of Manipulators During Constrained Motion Tasks / J. K. Mills and A. A. Goldenberg -- Pt. 8. Flexibility Effects on Performance and Control / S. Yurkovich. Initial Experiments on the End-Point Control of a Flexible One-Link Robot / R. H. Cannon, Jr. and E. Schmitz. Recursive Lagrangian Dynamics of Flexible Manipulator Arms / W. J. Book. Experiments in Identification and Control of Flexible-Link Manipulators / S. Yurkovich and A. P. Tzes -- Pt. 9. Dexterous End-Effectors and Grasping / S. S. Sastry and P. Hsu. The Kinematics of Contact and Grasp / D. J. Montana. Computing and Controlling the Compliance of a Robotic Hand / M. R. Cutkosky and I. Kao. Dynamics and Stability in Coordination of Multiple Robotic Mechanisms / Y. Nakamura, K. Nagai and T. Yoshikawa. Grasping and Coordinated Manipulation by a Multifingered Robot Hand / Z. Li, P. Hsu and S. Sastry -- Pt. 10. Redundant Robots / A. DeLuca.
• Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators / C. A. Klein and C.-H. Huang. Task-Priority Based Redundancy Control of Robot Manipulators / Y. Nakamura, H. Hanafusa and T. Yoshikawa. Redundancy Resolution of Manipulators Through Torque Optimization / J. M. Hollerbach and K. C. Suh. On the Inverse Kinematics of Redundant Manipulators / D. R. Baker and C. W. Wampler II -- Pt. 11. Dynamically Dexterous Robots / D. E. Koditschek. Dynamic Stability and Resonance in a One Legged Hopping Machine / M. H. Raibert. Understanding and Applying a Robot Ping-Pong Player's Expert Controller / R. L. Andersson. Passive Dynamic Walking / T. McGeer. From Stable to Chaotic Juggling: Theory, Simulation, and Experiments / M. Buhler and D. E. Koditschek.

ISBN

0780304047

LCCN

92005764

OCLC

ocm25677106

Owning Institutions

Columbia University Libraries