Position/Force Control of Dual-arm Manipulation without Using Force Sensors
碩士 === 國立中興大學 === 機械工程學系 === 87 === The thesis aims at developing a force controller for dual-arm manipulators using the cut-body method of multibody dynamics. In robot force control, we can calculate the contract force by introducing the Lagarange Multiplier. The advantage of this method is that ex...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1999
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| Online Access: | http://ndltd.ncl.edu.tw/handle/02177371707196814219 |