Region reaching control of robot manipulators

• 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
• Institution: Nanyang Technological University

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...