Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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Publisher: search.filters.publisher.Cambridge University PressSubject: search.filters.subject.Redundant robots

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  • Article
    Citation - WoS: 43
    Citation - Scopus: 48
    Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
    (Cambridge University Press, 2009) Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.