Region reaching control of robot manipulators
In this thesis, a new control con- cept called region reaching control for robot manipulators is proposed. In this new control concept, the desired objective can be specified as a region instead of a point. Several region reaching controllers are proposed in both joint-space and task-space. Since th...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | https://hdl.handle.net/10356/3646 |
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| Institution: | Nanyang Technological University |
| Summary: | In this thesis, a new control con- cept called region reaching control for robot manipulators is proposed. In this new control concept, the desired objective can be specified as a region instead of a point. Several region reaching controllers are proposed in both joint-space and task-space. Since the desired region can be specified arbi- trarily small, the region reaching control concept is also a generalization of setpoint control problem. |
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