Control of redundant robot manipulators. Theory and experiments. (Q2571141)

Recently, free motion control of kinematically redundant manipulators has been the subject of intensive research. The extra degrees of freedom have been to satisfy different additional tasks such as obstacle avoidance, mechanical joint limit avoidance, optimization of user defined objective functions, and minimization of joint velocities and acceleration. The various applications of manipulators in space, underwater, and hazardous material handling have led to considerable activity in the following research areas: Contact Force Control (CFC) and compliant motion control; Redundant manipulators and Redundancy Resolution (RR); Adaptive and Robust Control. The objective of this monograph is to present a unified framework for combining these three areas and to demonstrate the feasibility of the proposed redundancy resolution scheme by computer simulations and experiments on REDIESTRO, a seven degree-of-freedom (dof) experimental redundant manipulator. The chapters in the monograph are as follows: Chapter 1 -- Introduction; Chapter 2 -- Redundant Manipulators: Kinematic Analysis and Redundancy Resolution; Chapter 3 -- Collision Avoidance for a 7-DOF Redundant Manipulator; Chapter 4 -- Contact Force and Compliant Motion Control; Chapter 5 -- Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator; Chapter 6 -- Experimental Results for Contact Force and Compliant Motion Control; Chapter 7 -- Concluding Remarks. The monograph is concerned with the position and force control of redundant robot manipulators from both theoretical and experimental points of view. It contains a rich bibliography book as well as a full symbol and subject index. Its aim is to provide an introduction for graduate students and researchers in the field of control of redundant robot manipulators. Subsuming research activities and some of the recent scientific advances of control theory, it is a useful learning tool for scientists and engineers from academia and industry.