Control of Redundant Robot Manipulators

• Introduction.- Redundant Manipulators: Kinematic Analysis and Redundancy Resolution.- Collision Avoidance for a 7-DOF Redundant Manipulator.- Contact Force and Compliant Motion Control.- Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator.- Experimental Results for Contact Force and Complaint Motion Control.- Concluding Remarks.

From the reviews of the first edition: "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 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. ... it is a useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1081, 2006)