Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

Browse

Filters

20091

Settings

Publisher: search.filters.publisher.Cambridge University PressSubject: search.filters.subject.Controllers

Search Results

Now showing 1 - 1 of 1
  • Article
    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.