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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Bibliographic Details
Main Author: Ho, Yeong Khing.
Other Authors: Wang, Dan Wei
Format: Theses and Dissertations
Published: 2010
Subjects:
Online Access:http://hdl.handle.net/10356/38987
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Institution: Nanyang Technological University
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