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Citation - WoS: 15
Citation - Scopus: 20
Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper]
(Institute of Electrical and Electronics Engineers Inc., 2008) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.
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.
Citation - WoS: 43
Citation - Scopus: 48
Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
(Cambridge University Press, 2009) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.
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.

Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği