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Citation - WoS: 6
Citation - Scopus: 3
A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
(Springer Verlag, 2018) Tetik, Halil; Kiper, Gökhan
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.
Citation - WoS: 6
Citation - Scopus: 7
On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation
(Springer Verlag, 2017) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.

WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection