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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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 |