Perfomance evaluation of task-space controllers for robot manipulator
The objective of this project is to study and compare the performance of transpose Jacobian controller and inverse Jacobian controller for set point control and region control using computer simulation. The control laws are simulated under the following three types of uncertainties: · Rotational err...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/3768 |
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| Institution: | Nanyang Technological University |