Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Department: search.filters.department.İzmir Institute of Technology. Electrical and Electronics EngineeringSubject: search.filters.subject.Redundant manipulators

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  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    A Multi-Priority Controller for Industrial Macro-Micro Manipulation
    (Cambridge University Press, 2021) Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can
    In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared. Copyright © The Author(s), 2020. Published by Cambridge University Press.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 2
    Nonlinear Adaptive Partial State Feedback Trajectory Tracking Control of Tendon Driven Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2014) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Aksoy, Orhan
    In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state feedback nonlinear adaptive controller is proposed to deal with the unmeasurable states and uncertain dynamical system parameters. A backstepping approach has been utilized to develop the control strategy. The proposed nonlinear tracking controller utilizes online update laws to adapt for parametric uncertainties, and requires only link and actuator position measurements and tendon tension measurements. Need for link velocity measurements are eliminated by using a nonlinear filter, and a set of linear filters is designed to estimate the actuator velocities. Lyapunov based arguments have been applied to prove the stability of the closed-loop system and semi-global asymptotic link position tracking is achieved. © 2014 IEEE.