Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
Browse
2 results
Search Results
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: 16Citation - Scopus: 18Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master(Institute of Electrical and Electronics Engineers Inc., 2012) Kapadia, Apoorva D.; Walker, Ian D.; Tatlıcıoğlu, EnverIn this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE.