Robot Control

This book examines in depth some theoretical and applied problems related to the control of rigid manipulators. Basic mathematical tools are established, and a way of properly expressing a user's goal in terms of robot tasks is given. Of particular interest is the automatic control of robot manipulators; hence particular attention is paid to the problems of stability and robustness. Questions of redundancy and of control based on on-board environment sensors, such as force or proximity, are also discussed. Concepts which are not self-evident are illustrated or are analyzed starting from a simpler situation. The practical consequences of the results obtained are also examined and their effects on commonly encountered cases and design choices are described and discussed.