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...

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Detalhes bibliográficos
Autor principal: Wu, Jiang Rong.
Outros Autores: Cheah, Chien Chern
Formato: Tese
Publicado em: 2008
Assuntos:
Acesso em linha:http://hdl.handle.net/10356/3768