Springer (Advanced Textbooks in Control and Signal Processing),
2005, 426 pages. This book addresses robot control in depth,
treating a range of model-based controllers in detail: proportional
derivative; proportional integral derivative; computed torque and
some adaptive variants. Using varying combinations of the text’s
four parts: a) robot dynamics and mathematical preliminaries; b)
set-point model-based control; c) tracking model-based control; and
d) adaptive and velocity-independent control. A complete course in
robot control based on joint space can be constructed for senior
undergraduates or masters students.
Kelly R., Santib??ez V., Lor?a, A. Control of Robot Manipulators in Joint Space
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