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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Bibliographic Details
Main Author:	Wang, Dequn
Other Authors:	Cheah Chien Chern
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:	https://hdl.handle.net/10356/3646
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-3646
record_format	dspace
spelling	sg-ntu-dr.10356-36462023-07-04T16:42:36Z Region reaching control of robot manipulators Wang, Dequn Cheah Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics 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. MASTER OF ENGINEERING (EEE) 2008-09-17T09:34:27Z 2008-09-17T09:34:27Z 2005 2005 Thesis Wang, D. (2005). Region reaching control of robot manipulators. Master’s thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/3646 10.32657/10356/3646 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Wang, Dequn Region reaching control of robot manipulators
description	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.
author2	Cheah Chien Chern
author_facet	Cheah Chien Chern Wang, Dequn
format	Theses and Dissertations
author	Wang, Dequn
author_sort	Wang, Dequn
title	Region reaching control of robot manipulators
title_short	Region reaching control of robot manipulators
title_full	Region reaching control of robot manipulators
title_fullStr	Region reaching control of robot manipulators
title_full_unstemmed	Region reaching control of robot manipulators
title_sort	region reaching control of robot manipulators
publishDate	2008
url	https://hdl.handle.net/10356/3646
_version_	1772826748894838784

Region reaching control of robot manipulators

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