ADAPTIVE CONTROL OF ROBOT MANIPULATORS
A Unified Regressor-Free Approach
by An-Chyau Huang (National Taiwan University of Science and Technology, Taiwan)
&
Ming-Chih Chien (National Taiwan University of Science and Technology, Taiwan)
Table of Contents (61k)
Preface (59k)
Chapter 1: Introduction (105k)
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
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