Learning control of motion and force for constrained manipulators
It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
2009
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| Online Access: | http://hdl.handle.net/10356/19779 |
| _version_ | 1811679669115682816 |
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| author | Cheah, Chien Chern |
| author2 | Soh, Yeng Chai |
| author_facet | Soh, Yeng Chai Cheah, Chien Chern |
| author_sort | Cheah, Chien Chern |
| collection | NTU |
| description | It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed on the motion and the manipulator end effector is interacting with the environments. So far, most researches on learning control have focused on the problem of free motion learning control. |
| first_indexed | 2024-10-01T03:12:49Z |
| format | Thesis |
| id | ntu-10356/19779 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:12:49Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/197792023-07-04T15:31:16Z Learning control of motion and force for constrained manipulators Cheah, Chien Chern Soh, Yeng Chai School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed on the motion and the manipulator end effector is interacting with the environments. So far, most researches on learning control have focused on the problem of free motion learning control. Master of Engineering 2009-12-14T06:37:28Z 2009-12-14T06:37:28Z 1993 1993 Thesis http://hdl.handle.net/10356/19779 en Nanyang Technological University 102 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Cheah, Chien Chern Learning control of motion and force for constrained manipulators |
| title | Learning control of motion and force for constrained manipulators |
| title_full | Learning control of motion and force for constrained manipulators |
| title_fullStr | Learning control of motion and force for constrained manipulators |
| title_full_unstemmed | Learning control of motion and force for constrained manipulators |
| title_short | Learning control of motion and force for constrained manipulators |
| title_sort | learning control of motion and force for constrained manipulators |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering |
| url | http://hdl.handle.net/10356/19779 |
| work_keys_str_mv | AT cheahchienchern learningcontrolofmotionandforceforconstrainedmanipulators |