Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - Scopus: 2Adaptive Actuator Failure Compensation for Concurrently Actuated Manipulators(Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design.Conference Object Adaptive Actuator Failure Compensation for Cooperating Multiple Manipulator Systems(Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents adaptive actuator failure compensation for a cooperating multiple manipulator system with uncertain actuator failures in the task space. Advantages of designing control schemes in task spaces are emphasized, applications of task space control in robotics are discussed and a short review on control algorithms for cooperating multiple manipulator systems is given. Dynamic equations of motion of the multiple manipulator system in the task space are derived, and the adaptive actuator failure compensation problem is formulated. A compensation controller structure is proposed, for which adaptive parameter update laws are developed. The adaptive control scheme is able to compensate for the uncertainties arising from both the system parameters and the actuator failures. Based on Lyapunov stability analysis, the closed-loop signal boundedness and the convergence of the tracking error to zero are ensured. © 2003 International Federation of Automatic Control.