Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Subject: search.filters.subject.Redundant robots

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Now showing 1 - 4 of 4
  • Conference Object
    Citation - WoS: 16
    Citation - Scopus: 18
    Teleoperation 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, Enver
    In 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.
  • 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.
  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 8
    Teleoperation With Kinematically Redundant Robot Manipulators With Sub-Task Objectives
    (Institute of Electrical and Electronics Engineers Inc., 2008) Nath, Nitendra; Tatlıcıoğlu, Enver; Dawson, Darren M.
    In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunovbased stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective.
  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 6
    Set-Point Navigation of a Redundant Robot in Uncertain Environments Using Finite Range Sensors
    (Institute of Electrical and Electronics Engineers Inc., 2008) Kapadia, Apoorva; Tatlıcıoğlu, Enver; Dawson, Darren M.
    In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.