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

• 主要作者: Lee, Chong Yee.
• 其他作者: S. P. Chan
• 格式: Theses and Dissertations
• 語言: English
• 出版: 2009
• 主題: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• 在線閱讀: http://hdl.handle.net/10356/19787
• 機構: 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...