Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper]
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.contributor.author | Braganza, David | |
| dc.contributor.author | Burg, Timothy C. | |
| dc.contributor.author | Dawson, Darren M. | |
| dc.coverage.doi | 10.1109/ACC.2008.4586600 | |
| dc.date.accessioned | 2021-01-24T18:32:09Z | |
| dc.date.available | 2021-01-24T18:32:09Z | |
| dc.date.issued | 2008 | |
| dc.description | American Control Conference 2008 | en_US |
| dc.description.abstract | 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. | en_US |
| dc.description.sponsorship | IEEE | en_US |
| dc.description.sponsorship | This work is supported in part by a DOE Contract and a Honda Corporation Grant. | en_US |
| dc.identifier.doi | 10.1109/ACC.2008.4586600 | |
| dc.identifier.isbn | 978-1-4244-2078-0 | |
| dc.identifier.issn | 0743-1619 | |
| dc.identifier.issn | 2378-5861 | |
| dc.identifier.scopus | 2-s2.0-52449097302 | |
| dc.identifier.uri | https://doi.org/10.1109/ACC.2008.4586600 | |
| dc.identifier.uri | https://hdl.handle.net/11147/10063 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | Proceedings of the American Control Conference | en_US |
| dc.relation.ispartofseries | Proceedings of the American Control Conference | |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.title | Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper] | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.collaboration.industrial | false | |
| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.departmenttemp | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.endpage | 861 | |
| gdc.description.scopusquality | Q3 | |
| gdc.description.startpage | 856 | en_US |
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| gdc.identifier.wos | WOS:000259261500145 | |
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| gdc.oaire.keywords | Tracking controller | |
| gdc.oaire.keywords | Controllers | |
| gdc.oaire.keywords | Redundant robots | |
| gdc.oaire.keywords | Redundant manipulator | |
| gdc.oaire.keywords | Adaptive control systems | |
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