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

• Main Author: Ho, Yeong Khing.
• Other Authors: Wang, Dan Wei
• Format: Theses and Dissertations
• Published: 2010
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/38987
• Institution: Nanyang Technological University

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...