Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer

• Main Author: Lee, Chong Yee.
• Other Authors: S. P. Chan
• 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/10356/19787
• Institution: Nanyang Technological University

In a typical robotic assembly for odd-form electronic components, the insertion task is normally carried out vertically downward. This insertion approach can best be accom-plished with a SCARA robot. During the insertion process, many factors could affect its success. These factors include the error...