Kelly R., Santibáñez V., Loría, A. Control of Robot Manipulators in Joint Space
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Springer (Advanced Textbooks in Control and Signal Processing), 2005, 426 pages. This book addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: a) robot dynamics and mathematical preliminaries; b) set-point model-based control; c) tracking model-based control; and d) adaptive and velocity-independent control. A complete course in robot control based on joint space can be constructed for senior undergraduates or masters students.
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