Learning control of motion and force for constrained manipulators

• المؤلف الرئيسي: Cheah, Chien Chern
• مؤلفون آخرون: Soh, Yeng Chai
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2009
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/19779
• المؤسسة: Nanyang Technological University

It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed...