Adaptive setpoint control of robots with uncertain kinematics and dynamics

In this thesis, adaptive setpoint control problem of robot manipulators in the presence of kinetmatic and dynamic uncertainties is addressed. Both joint-space and visual-space adaptive setpoint controllers are developed.

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Bibliographic Details
Main Author:	Hakan Yazarel
Other Authors:	Cheah, Chien Chern
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:	http://hdl.handle.net/10356/4331
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-4331
record_format	dspace
spelling	sg-ntu-dr.10356-43312023-07-04T15:06:25Z Adaptive setpoint control of robots with uncertain kinematics and dynamics Hakan Yazarel Cheah, Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics In this thesis, adaptive setpoint control problem of robot manipulators in the presence of kinetmatic and dynamic uncertainties is addressed. Both joint-space and visual-space adaptive setpoint controllers are developed. Master of Engineering 2008-09-17T09:49:24Z 2008-09-17T09:49:24Z 2002 2002 Thesis http://hdl.handle.net/10356/4331 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Hakan Yazarel Adaptive setpoint control of robots with uncertain kinematics and dynamics
description	In this thesis, adaptive setpoint control problem of robot manipulators in the presence of kinetmatic and dynamic uncertainties is addressed. Both joint-space and visual-space adaptive setpoint controllers are developed.
author2	Cheah, Chien Chern
author_facet	Cheah, Chien Chern Hakan Yazarel
format	Theses and Dissertations
author	Hakan Yazarel
author_sort	Hakan Yazarel
title	Adaptive setpoint control of robots with uncertain kinematics and dynamics
title_short	Adaptive setpoint control of robots with uncertain kinematics and dynamics
title_full	Adaptive setpoint control of robots with uncertain kinematics and dynamics
title_fullStr	Adaptive setpoint control of robots with uncertain kinematics and dynamics
title_full_unstemmed	Adaptive setpoint control of robots with uncertain kinematics and dynamics
title_sort	adaptive setpoint control of robots with uncertain kinematics and dynamics
publishDate	2008
url	http://hdl.handle.net/10356/4331
_version_	1772826439999029248

Adaptive setpoint control of robots with uncertain kinematics and dynamics

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