Single/Multiple-Tasks Velocity Control of 7-axis KUKA Redundant Robots under Joint Constraints
碩士 === 國立中興大學 === 機械工程學系所 === 104 === In this thesis, we consider task-space velocity control for the redundant KUKA LWR4 robots. First, we use the Denavit-Hartenberg method to define the coordinate frames of the links and their link parameters, and derive the forward kinematics of the 7-axis mani...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/43926147749448625216 |