Region reaching control of robot manipulators
Date of Issue2005
School of Electrical and Electronic Engineering
In this thesis, a new control con- cept called region reaching control for robot manipulators is proposed. In this new control concept, the desired objective can be specified as a region instead of a point. Several region reaching controllers are proposed in both joint-space and task-space. Since the desired region can be specified arbi- trarily small, the region reaching control concept is also a generalization of setpoint control problem.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Nanyang Technological University