Perfomance evaluation of task-space controllers for robot manipulator

The objective of this project is to study and compare the performance of transpose Jacobian controller and inverse Jacobian controller for set point control and region control using computer simulation. The control laws are simulated under the following three types of uncertainties: · Rotational err...

Full description

Bibliographic Details
Main Author: Wu, Jiang Rong.
Other Authors: Cheah, Chien Chern
Format: Thesis
Published: 2008
Subjects:
Online Access:http://hdl.handle.net/10356/3768