书籍

描述

In recent decades, robotic manipulators have played a very important role in the development of industry and automation. Nowadays, robotic manipulators are performing their tasks alongside human users by having some unique characteristics such as durability in polluted and dangerous environments, repeatability, high accuracy, the ability to move heavy objects, etc. The nonlinear, time-varying and complex dynamics of robotic manipulators and the effects of perturbation on their performance has been faced control engineers with serious challenges to design high performance controller for them. Hence, the focus of this book is on the modeling and control of robotic systems based on sliding mode control as one of the most powerful nonlinear robust control methods to overcome these problems. In this book, methods and principles of position control and position/force control in certain and uncertain environments are introduced.