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2 Robust Motion Control of Redundant Robot Systems
3 Adaptive Controller Design for Robot Manipulators
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actuator algorithm application assembly automatic axis biped calculated cleanroom components configuration constraints control law control system defined developed device dynamic model end-effector Engineering environment equation feedback fixture flexible force control function fuzzy gripper hybrid IEEE impedance control implemented Industrial Robots input interaction interface interpolation inverse kinematics Jacobian matrix joint Karlskronavarvet kinematic load machine manufacturing matrix measure mechanism method MiniDisc module motor Nanyang Technological University neural network object off-line operation optimal output parameters path performance PID controller position control problem Proc production proposed PTP motion real robot robot cell robot controller robot manipulator robot programming robot system robot welding Robotics and Automation sample SCARA robot sensor servo shown in Figure signal simulation space specific structure surface task telerobotic tion tool torque tracking error trajectory vector velocity welding workcell workpiece