Fuzzy Control of Dual Arm Robot with Flexible Joints
碩士 === 中興大學 === 機械工程學系所 === 99 === A position-force control scheme for dual-arm flexible joints systems is proposed in this thesis. This scheme is based on Lagrange Multiplier computed torque method. Dual-arm robots clamping an object can be considered as closed-chain multi-body mechanical syste...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/88053288295172810144 |