Intelligent Control of Robot Manipulators

Introduction

Designing high-performance and low-cost robot manipulators is one of the ultimate challenges for engineers today. Key performance criteria for these robots are: 1) speed, 2) accuracy and repeatability, 3) vibration suppression, and 4) cost. In striving to meet these increasingly stringent performance goals, a mechatronic approach, which combines aspects< from both mechanical hardware and servo soware, is required. This research focuseson learning control, vision sensing dynamics compensation, kinematic visual servoing, and automatic sensor frame identication. The project utilizes an integrated analytical, simulation, and experimental eort to a