"Containing over 750 essential equations, this thoroughly up-to-date Second Edition logs the capabilities, limitations, sensors, and controllers of today's commercial robots ... explores computed-torque control in conjunction with several classical and modern robot control schemes ... covers feedback-linearization and nonlinear controllers as well as dynamics redesign in robust control ... presents computed-torque, inertia-related, and passivity-related approaches to adaptive control ... contrasts outcomes with robust and adaptive control given uncertainties and disturbances ... relates advanced techniques involving learning control, joint flexibilities, and more ... introduces control using static neural networks plus tuning algorithms for linear- and nonlinear-in-the-parameters neural networks ... examines force control from stiffness control of a single-degree-of-freedom manipulator to implementation issues in reduced state position control ... and studies the computer simulation of controlled nonlinear systems, providing generous examples and an appendix of software options for controller simulation."--BOOK JACKET.
Includes bibliographical references and index.