This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Dynamic Equations for Robot Manipulators; Adaptive Control of Rigid Robots; Adaptive Impedance Control of Rigid Robots; Adaptive Control of Flexible Joint Robots; Adaptive Impedance Control of Flexible Joint Robots;