Modelling and control of constrained robot systems with uncertainties in the constraint functions
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...
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| Format: | Theses and Dissertations |
| Published: |
2010
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| Online Access: | http://hdl.handle.net/10356/38987 |
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| Institution: | Nanyang Technological University |