Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - WoS: 2Citation - Scopus: 3On Null-Space Control of Kinematically Redundant Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2016) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.Conference Object Citation - WoS: 6Citation - Scopus: 7Lyapunov-Based Output Feedback Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, KamilThis paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learning-based feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method. © 2015 American Automatic Control Council.