Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer
In a typical robotic assembly for odd-form electronic components, the insertion task is normally carried out vertically downward. This insertion approach can best be accom-plished with a SCARA robot. During the insertion process, many factors could affect its success. These factors include the error...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/10356/19787 |
| _version_ | 1811676282475249664 |
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| author | Lee, Chong Yee. |
| author2 | S. P. Chan |
| author_facet | S. P. Chan Lee, Chong Yee. |
| author_sort | Lee, Chong Yee. |
| collection | NTU |
| description | In a typical robotic assembly for odd-form electronic components, the insertion task is normally carried out vertically downward. This insertion approach can best be accom-plished with a SCARA robot. During the insertion process, many factors could affect its success. These factors include the error introduced during board alignment, error introduced at the pick-up point, robot positioning error, dimensional error of the robot support structure, the manufacturing tolerances of the component's lead and more importantly the uncontrollable factor such as bent lead. Good position or trajectory tracking is required to reduce the error introduced at the pick-up point and motion related positioning error to minimum. |
| first_indexed | 2024-10-01T02:19:00Z |
| format | Thesis |
| id | ntu-10356/19787 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:19:00Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/197872023-07-04T15:09:11Z Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer Lee, Chong Yee. S. P. Chan School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering In a typical robotic assembly for odd-form electronic components, the insertion task is normally carried out vertically downward. This insertion approach can best be accom-plished with a SCARA robot. During the insertion process, many factors could affect its success. These factors include the error introduced during board alignment, error introduced at the pick-up point, robot positioning error, dimensional error of the robot support structure, the manufacturing tolerances of the component's lead and more importantly the uncontrollable factor such as bent lead. Good position or trajectory tracking is required to reduce the error introduced at the pick-up point and motion related positioning error to minimum. Master of Engineering 2009-12-14T06:37:52Z 2009-12-14T06:37:52Z 1993 1993 Thesis http://hdl.handle.net/10356/19787 en NANYANG TECHNOLOGICAL UNIVERSITY 116 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Lee, Chong Yee. Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title | Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title_full | Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title_fullStr | Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title_full_unstemmed | Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title_short | Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| title_sort | trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering |
| url | http://hdl.handle.net/10356/19787 |
| work_keys_str_mv | AT leechongyee trajectorycontrolandforcesensingoftherobotmanipulatorsusingajointtorquedisturbanceobserver |