Theory of Robot Control

This study presents the latest research results in the theory of robot control. In three major parts the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. The way the text is organised echoes the gradual development of robot control in the last fifteen years. Most of the results on rigid robot manipulators in part I are now well established with the exception of constrained motion control. For flexible manipulators in part II, some problems still remain unresolved, especially those related to flexible links. Part III deals with the control of mobile robots, a challenging area for future research. The appendix reviews basic definitions and the mathematical background for control theory. The particular combination of topics makes this publication an invaluable source of information for graduate students and researchers.