Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm

Benbelkacem, Yacine (2013) Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm. Masters thesis, Universiti Sains Malaysia.

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Abstract

In industrial robotics, grasping an object is required to happen fast since the position and orientation of such an object is a-priori known. However, if such information about the position and orientation is unavailable and objects are spread randomly on a conveyor, it may be challenging to keep the dexterity and speed at which the task is carried out. Nowadays, the use of vision sensors to compute the position and orientation of an object and to reposition the robotic system is being used accordingly. This technology has indirectly introduced a disparity in time that varies according to the nature of the control technique.

Item Type:	Thesis (Masters)
Additional Information:	Access full text: Off Campus Log In Via OpenAthens
Subjects:	T Technology > TK Electrical Engineering. Electronics. Nuclear Engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Divisions:	Kampus Kejuruteraan (Engineering Campus) > Pusat Pengajian Kejuruteraaan Elektrik & Elektronik (School of Electrical & Electronic Engineering) > Thesis
Depositing User:	Mr Mohammad Harish Sabri
Date Deposited:	26 Feb 2020 03:53
Last Modified:	26 Feb 2020 03:53
URI:	http://eprints.usm.my/id/eprint/46342

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