Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
| 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 | 10.1017/S0263574708005274 | |
| dc.date.accessioned | 2016-11-17T14:59:49Z | |
| dc.date.available | 2016-11-17T14:59:49Z | |
| dc.date.issued | 2009 | |
| 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. Numerical simulation results are presented to show the validity of the proposed controller. | en_US |
| dc.identifier.citation | Tatlıcıoğlu, E., Braganza, D., Burg, T. C., and Dawson, D. M. (2009). Adaptive control of redundant robot manipulators with sub-task objectives. Robotica, 27(6), 873-881. doi:10.1017/S0263574708005274 | en_US |
| dc.identifier.doi | 10.1017/S0263574708005274 | |
| dc.identifier.doi | 10.1017/S0263574708005274 | en_US |
| dc.identifier.issn | 0263-5747 | |
| dc.identifier.issn | 1469-8668 | |
| dc.identifier.scopus | 2-s2.0-70450180982 | |
| dc.identifier.uri | http://doi.org/10.1017/S0263574708005274 | |
| dc.identifier.uri | https://hdl.handle.net/11147/2469 | |
| dc.language.iso | en | en_US |
| dc.publisher | Cambridge University Press | en_US |
| dc.relation.ispartof | Robotica | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Controllers | en_US |
| dc.subject | Adaptive control systems | en_US |
| dc.subject | Redundant robots | en_US |
| dc.subject | Redundant manipulator | en_US |
| dc.subject | Tracking controller | en_US |
| dc.title | Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives | en_US |
| dc.type | Article | en_US |
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| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 881 | en_US |
| gdc.description.issue | 6 | en_US |
| gdc.description.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.startpage | 873 | en_US |
| gdc.description.volume | 27 | en_US |
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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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