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

• المؤلف الرئيسي: Lee, Chong Yee.
• مؤلفون آخرون: S. P. Chan
• 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/10356/19787
• المؤسسة: 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...