Robot Manipulator Control Theory and Practice second edition

Description :
         Many textbooks have been written on control engineering, describing new techniques for controlling systems, or new and better ways of mathematically formulating existing methods to solve the ever-increasing complex problems faced by practicing engineers. However, few of these books fully address the applications aspects of control engineering. It is the intention of this new series to redress this situation. This series presents books that draw on expertise from both the academic world and the applications domains, and will be useful not only as academically recommended course texts but also as handbooks for practitioners in many applications domains.
Nonlinear Control Systems is another outstanding entry in Dekker’s Control Engineering series. The history of automatic control systems has deep roots. Most of the feedback controllers of the Greeks and Arabs regulated water clocks for the accurate telling of time; these were made obsolete by the invention of the mechanical clock in Switzerland in the fourteenth century. Automatic control systems only came into their own three hundred years later during the industrial revolution with the advent of machines sophisticated enough to require advanced controllers; we have in mind especially the windmill and the steam engine. On the other hand, though invented by others (e.g. T.Newcomen in 1712) the credit for the steam engine is usually assigned to James Watt, who in 1769 produced his engine which combined mechanical innovations with a control system that allowed automatic regulation. That is, modern complex machines are not useful unless equipped with a suitable control system.
This book is intended to provide an in-depth study of control systems for serial-link robot arms. It is a revised and expended version of our 1993 book. Chapters have been added on commercial robot manipulators and devices, neural network intelligent control, and implementation of advanced controllers on actual robotic systems.