Learning control of motion and force for constrained manipulators

Learning control of motion and force for constrained manipulators

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...

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Bibliographic Details
Main Author: Cheah, Chien Chern
Other Authors: Soh, Yeng Chai
Format: Theses and Dissertations
Language:English
Published: 2009
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Online Access:http://hdl.handle.net/10356/19779
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Institution: Nanyang Technological University
Language: English
Description
Summary: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 on the motion and the manipulator end effector is interacting with the environments. So far, most researches on learning control have focused on the problem of free motion learning control.

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