Adaptive robot contact planning and control - by Zafer Abdul-Rahman Wazzan
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Abstract
This thesis relies on modeling, control and dynamic analysis of robotic manipulators. The objective is to introduce a way to control an unknown robot manipulator utilizing an adaptive, Lyapunov based controller. Relying on this controller, we are able to
Description
Thesis (M.E.)--American University of Beirut. Department of Electrical and Computer Engineering, 2000;"Advisor: Dr. Fouad Mrad, Associate Professor Electrical and Computer Engineering--Member of Committee: Dr. Ali El-Hajj, Professor, Electrical and Comput