Control Theory of Non-linear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach (Oxford Engineering Science Series, 49)

Robot arms are found in almost every modern manufacturing plant in the world, but their limited dexterity creates problems for their efficient control. Understanding these problems in advance is vital in robotic design. This book concerns itself with the theory and practice of these control problems. It will be of great interest to all robotic researchers and engineers.