Non-adaptive and adaptive control of manipulation robots (Q1062647)

The major topic of the book is the synthesis of control structures for manipulation robots in the case of large payload variations. The material in the book relies on the research efforts of the authors made in the field of dynamic control of robotic systems at the ''Mihailo Pupin'' Institute, Belgrade. The book has five chapters, each having separate references. Chapter 1 summarizes the material of Vol. 4 in this series concerning the construction of dynamic robot models suitable for real-time implementation. Chapter 2 surveys the main approaches to non-adaptive control of manipulation robots. The authors' approach to this problem is based on a robust decentralized (local) control combined with global control via force feedback or on-line dynamic model evaluation. A method is developed in the book for the analysis of practical stability of robots with variable parameters. Chapter 3 is devoted to the adaptive control of manipulators. The two main adaptive control concepts: self- tuning control and model reference control, are considered in both centralized and decentralized control configurations. Chapter 4 describes a software package for modeling manipulation robots and for analysis, design and simulation of robot control systems. Chapter 5 is devoted to implementation issues of robot control algorithms on microcomputers. The book is clearly written, with many examples highlighting the authors approach to the synthesis of robot control systems. The authors have succeeded in presenting a self contained text which provides a complete methodology for designing and implementing industrial robot applications. The book addresses researchers in robotics, robot designers as well as postgraduate students of robotics.