Adaptive jacobian control of robot

• Main Author: Tan, Jesper Jian Xiong.
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/40406
• Institution: Nanyang Technological University

Adaptive depth and length controllers were implemented and tested with the use of a Selective Compliance Assembly Robot Arm (SCARA). The controllers are a set of control loop feedback mechanisms that make use of the vision feedback from a camera to track an infra-red LED that is attached to...