Robust impedance control for robot manipulators
This thesis describes the development and implementation of robust impedance control to perform an assembly task of inserting a printed circuit board (PCB) into an edge connector socket using a multi-joint robot. The insertion task involves compliant manipulation in which a substantial force is need...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/3660 |
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| Institution: | Nanyang Technological University |