Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

Browse

Filters

20181

Settings

Author: search.filters.author.Çobanoğlu, NecatiSubject: search.filters.subject.Jacobian matrices

Search Results

Now showing 1 - 1 of 1
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 1
    A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space
    (Institute of Electrical and Electronics Engineers Inc., 2018) Çobanoğlu, Necati; Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.