Perfomance evaluation of task-space controllers for robot manipulator

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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Main Author: Wu, Jiang Rong.
Other Authors: Cheah, Chien Chern
Format: Theses and Dissertations
Published: 2008
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
Online Access:http://hdl.handle.net/10356/3768
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Institution: Nanyang Technological University
id sg-ntu-dr.10356-3768
record_format dspace
spelling sg-ntu-dr.10356-37682023-07-04T15:00:55Z Perfomance evaluation of task-space controllers for robot manipulator Wu, Jiang Rong. Cheah, Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation 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 error from Cartesian coordinates to sensor coordinates · Uncertain kinematics from joint space to Cartesian space · Uncertain gravity in the robot manipulator A Matlab program was developed to simulate the performance of the proposed task-space controllers. Master of Science (Computer Control and Automation) 2008-09-17T09:37:07Z 2008-09-17T09:37:07Z 2004 2004 Thesis http://hdl.handle.net/10356/3768 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
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
Wu, Jiang Rong.
Perfomance evaluation of task-space controllers for robot manipulator
description 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 error from Cartesian coordinates to sensor coordinates · Uncertain kinematics from joint space to Cartesian space · Uncertain gravity in the robot manipulator A Matlab program was developed to simulate the performance of the proposed task-space controllers.
author2 Cheah, Chien Chern
author_facet Cheah, Chien Chern
Wu, Jiang Rong.
format Theses and Dissertations
author Wu, Jiang Rong.
author_sort Wu, Jiang Rong.
title Perfomance evaluation of task-space controllers for robot manipulator
title_short Perfomance evaluation of task-space controllers for robot manipulator
title_full Perfomance evaluation of task-space controllers for robot manipulator
title_fullStr Perfomance evaluation of task-space controllers for robot manipulator
title_full_unstemmed Perfomance evaluation of task-space controllers for robot manipulator
title_sort perfomance evaluation of task-space controllers for robot manipulator
publishDate 2008
url http://hdl.handle.net/10356/3768
_version_ 1772827311251390464

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