Control of a 2-axis scara robot with a flexible forearm

• المؤلف الرئيسي: Liu, Yaping.
• مؤلفون آخرون: Lau, Michael Wai Shing
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2008
• الموضوعات: DRNTU::Engineering::Mechanical engineering::Robots
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/13514
• المؤسسة: Nanyang Technological University

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...