Thesis (M. Phil.)--University of Hong Kong, 2006. / Title proper from title frame. Also available in printed format.

Thesis (Ph. D.)--University of Texas at Austin, 2006. / Vita. Includes bibliographical references.

Thesis (Ph. D.)--Ohio State University, 1986. / Includes vita. Includes bibliographical references (leaves 132-136). Available online via OhioLINK's ETD Center.

University of Macau / Faculty of Science and Technology / Department of Electromechanical Engineering

The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dynamics and treats the wrist assembly as a load mass. Simulated test paths requiring movement of the outer two links indicate that the controller adapts and that its behaviour is stable and convergent. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate

published_or_final_version / Mechanical Engineering / Master / Master of Philosophy

No description available.

No description available.

No description available.

M.Ing. (Mechanical Engineering) / This dissertation presents and explains methods for the dynamic modeling of robot like mechanisms. These mechanisms can have multiple degree of freedom joints and contain closed-chains. A new kinematic notation is proposed. The algorithms, including those used for the inverse and direct dynamics, are all based on spatial notation and a general joint model, providing a quite general, integrated and complete method for solving the dynamics of simple closed-chain mechanisms.