Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer
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...
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Format: | Theses and Dissertations |
Language: | English |
Published: |
2009
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Online Access: | http://hdl.handle.net/10356/19787 |
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Institution: | Nanyang Technological University |
Language: | English |
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