Redundant robot motions, stability analysis and control
Abstract
In the first part of this thesis we analyze the stability of redundant robot motions under Jacobian pseudo inverse control. We develop tools to measure the joint drift exhibited by the redundant robot joints and then analyze its stability. In the second part of the thesis we develop an adaptive control scheme which ensures global stability of joints and end-effector motions when the robot mass and inertia parameters are unknown.
Degree
Ph.D.
Advisors
Ahmad, Purdue University.
Subject Area
Electrical engineering|Systems design
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