Force control for robotic manipulators with structurally flexible links
This thesis reports on the development of strategies for the control of contact forces exerted by a structurally flexible robotic manipulator on surfaces in its working environment. The controller is based on a multivariable, explicitly adaptive, long range predictive control algorithm. A static...
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| Language: | English |
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2008
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| Online Access: | http://hdl.handle.net/2429/3013 |