Titlebook: Control of Redundant Robot Manipulators; Theory and Experimen R. V. Patel,F. Shadpey Book 2005 Springer-Verlag Berlin Heidelberg 2005 Colli

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Book 2005search from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of

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0170-8643 actual prototype redundant robot manipulator.This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are ve

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,Planherstellung und Fl?chenberechnung,ts, and micro-robotics brought new challenges for robotics researchers. The goal was to develop control schemes capable of controlling a robot in performing tasks that required: (1) interaction with its environment; (2) dexterity comparable to that provided by the human arm.

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2 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution,teristic in performing tasks that require dexterity comparable to that of the human arm, e.g., in space applications such as in the Special Purpose Dexterous Manipulator (SPDM) of Canadarm-2 designed for the International Space Station. While most non-redundant manipulators possess enough degrees-of

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3 Collision Avoidance for a 7-DOF Redundant Manipulator,rs in cluttered environments. A compact and fast collision-avoidance scheme would be particularly useful for robotic applications in space, underwater, and hazardous environments. Collision avoidance for robot manipulators can be divided into two categories: end-effector level and link level. Much o

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