Nonlinear Control of Robotic Systems for Environmental Waste and Restoration (Prentice-Hall Series on Environmental and Intelligent Manufacturing Sys) - Hardcover

Dawson, Darren M.; Bridges, Michael M.; Qu, Zhihua

Hardcover

ISBN 10: 0131246291 ISBN 13: 9780131246294

Publisher: Prentice Hall, 1994

Synopsis

This text focuses on the robust control of robotic manipulators, with special emphasis on the theoretical and implementational issues for environmental waste and restoration applications. The book has been written from a robot control engineering perspective.

About this title

From the Publisher

As a result of the Cold War, the US and other countries have huge stockpiles of nuclear waste from weapons and energy plants. Robotics provides a reasonable solution to the safety concerns involved with clean-up problems. This is the first book to focus on the robust control of robotic manipulators -- with special emphasis on the theoretical and implementational issues for environmental waste and restoration applications. Written from a robot control engineering perspective, it focuses on issues such as system stability and robustness, high accuracy tracking, and other control measures of dynamic system performance, and on implementation specifics for environmental restoration problems that necessitate robot control solutions, including hazardous waste (e.g., nuclear). KEY TOPICS: Covers manipulator dynamics and mathematical preliminaries; robust position control; robust position/force control; modeling and control of dual robot manipulators; robust control with non-negligible actuator dynamics; and experimental results for environmental restoration applications. Contains detailed computer simulations of all robot controllers presented -- some verified with experimental results using robotic and computer control hardware.

Edition details

• Publisher: Prentice Hall
• Publication date: 1994
• Language: English
• ISBN 10: 0131246291
• ISBN 13: 9780131246294
• Binding: Hardcover
• Number of pages: 162