Regional feedback control of robot with application to optical manipulation of biological cells

• Main Author: Li, Xiang
• Other Authors: Cheah Chien Chern
• Format: Theses and Dissertations
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/52040
• Institution: Nanyang Technological University

Task-space sensory feedback information is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing task-space sensory feedback control methods of robot are only valid locally in a finite task space within a limited sensing zone where singularity of...