WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7150

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Author: search.filters.author.Kapadia, ApoorvaSubject: search.filters.subject.Redundant robots

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  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 6
    Set-Point Navigation of a Redundant Robot in Uncertain Environments Using Finite Range Sensors
    (Institute of Electrical and Electronics Engineers Inc., 2008) Kapadia, Apoorva; Tatlıcıoğlu, Enver; Dawson, Darren M.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.