Robust control for peg-in-hole assembly
Peg-in-hole assembly is a form of commonly seen assembly task in the modern world. The assembly process is even more challenging when the clearance of workpiece is very tight. Force feedback controller is a commonly used method to tackle the problem. Depending on the overall contact stiffness, the...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/159042 |