Robust impedance control of robot manipulators /

The objective of this research was to design a controller for robot manipulators that could achieve a desired target impedance robustly and could follow the desired trajectory, even when disturbances and parameter uncertainties exist. Typical assumptions such as the so-called 'matching conditio...

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Bibliographic Details

Main Author:	Bae, Gun-Woong, 1954-
Other Authors:	Chen, Goong (degree committee member.), Redfield, Robin (degree committee member.)
Format:	Thesis Book
Language:	English
Published:	1990.
Subjects:	Robots > Control systems. Manipulators (Mechanism) Mechanical impedance. Mechanical Engineering Academic theses
Online Access:	Link to OAKTrust copy