Modelling and control of constrained robot systems with uncertainties in the constraint functions

• المؤلف الرئيسي: Ho, Yeong Khing.
• مؤلفون آخرون: Wang, Dan Wei
• التنسيق: Theses and Dissertations
• منشور في: 2010
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/38987

Constrained robot motion control is a special class of robot control where both the trajec-tory and the contact force have to be considered. For effective control of this class of robot systems, we need to consider the robot dynamics and the constraining environments as inte-grated constrained robot...