1 - 6 of 6 Chapters
[A robotic manipulator consists of rigid links connected by joints, as illustrated in Fig. 1.1.]
[Increasing demand for robotic systems operating in unstructured environments has led to the development of sensory feedback control methods. This chapter introduces the fundamental concepts for design and analysis of task-space sensory feedback control of robotic systems with uncertainty.]
[A human being is able to adapt to kinematic uncertainty by learning from previous experience. For example, we can manipulate a tool more skillfully after using it several times.]
[In most human reaching movements, the desired targets are regions with arbitrary shapes rather than points.]
[Task-space sensory feedback control methods are valid only in a finite task space within a limited sensing zone where singularities of the Jacobian matrix are avoided.]
[Task-space sensory feedback control methods are also effective in dealing with various types of uncertainty in robot systems with more complicated dynamic behavior.]
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