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Title: Learning control of motion and force for constrained manipulators
Authors: Cheah, Chien Chern
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Issue Date: 1993
Abstract: It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed on the motion and the manipulator end effector is interacting with the environments. So far, most researches on learning control have focused on the problem of free motion learning control.
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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