Adaptive setpoint control of robots with uncertain kinematics and dynamics
Date of Issue2002
School of Electrical and Electronic Engineering
In this thesis, adaptive setpoint control problem of robot manipulators in the presence of kinetmatic and dynamic uncertainties is addressed. Both joint-space and visual-space adaptive setpoint controllers are developed.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Nanyang Technological University