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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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
id sg-ntu-dr.10356-19779
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spelling sg-ntu-dr.10356-197792023-07-04T15:31:16Z Learning control of motion and force for constrained manipulators Cheah, Chien Chern Soh, Yeng Chai School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering 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. Master of Engineering 2009-12-14T06:37:28Z 2009-12-14T06:37:28Z 1993 1993 Thesis http://hdl.handle.net/10356/19779 en Nanyang Technological University 102 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Cheah, Chien Chern
Learning control of motion and force for constrained manipulators
description 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.
author2 Soh, Yeng Chai
author_facet Soh, Yeng Chai
Cheah, Chien Chern
format Theses and Dissertations
author Cheah, Chien Chern
author_sort Cheah, Chien Chern
title Learning control of motion and force for constrained manipulators
title_short Learning control of motion and force for constrained manipulators
title_full Learning control of motion and force for constrained manipulators
title_fullStr Learning control of motion and force for constrained manipulators
title_full_unstemmed Learning control of motion and force for constrained manipulators
title_sort learning control of motion and force for constrained manipulators
publishDate 2009
url http://hdl.handle.net/10356/19779
_version_ 1772825676544475136

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