Control of a 2-axis scara robot with a flexible forearm
In this thesis, issues in the modelling and control design of the tip position trajectory tracking of a two-link SCARA manipulator arm with a flexible forearm are discussed. A control strategy is proposed such that, by an appropriate choice of outputs for the model, a LQG controller can be implement...
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/13514 |
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| Institution: | Nanyang Technological University |
| Language: | English |