1st Edition
Lyapunov-Based Control of Robotic Systems
Introduction
History of Robotics
Lyapunov-Based Control Philosophy
The Real-Time Computer Revolution
Robot Control
Introduction
Modeling and Control Objective
Computed Torque Control Approaches
Adaptive Control Design
Task-Space Control and Redundancy
Vision-Based Systems
Introduction
Monocular Image-Based Geometry
Visual Servo Tracking
Continuum Robots
Mobile Robot Regulation and Tracking
Structure from Motion
Path Planning and Control
Introduction
Velocity Field and Navigation Function Control for Manipulators
Velocity Field and Navigation Function Control for WMRs
Vision Navigation
Optimal Navigation and Obstacle Avoidance
Human Machine Interaction
Introduction
Exercise Machine
Steer-by-Wire
Robot Teleoperation
Rehabilitation Robot
Appendix A: Mathematical Background
Appendix B: Supplementary Lemmas and Expressions
Index
References appear at the end of each chapter.
Biography
Aman Behal is an assistant professor in the School of Electrical Engineering and Computer Science and the NanoScience Technology Center at the University of Central Florida.
Warren Dixon is an associate professor and director of the Nonlinear Controls and Robotics group in the Department of Mechanical and Aerospace Engineering at the University of Florida.
Darren M. Dawson is McQueen Quattlebaum Professor and chair of the Holcombe Department of Electrical and Computer Engineering at Clemson University.
Bin Xian is a professor in the School of Electrical Engineering and Automation at Tianjin University.
