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dc.contributor.authorKapadia, Apoorva
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorDawson, Darren M.
dc.date.accessioned2016-10-20T12:41:12Z
dc.date.available2016-10-20T12:41:12Z
dc.date.issued2008
dc.identifier.citationKapadia, A., Tatlıcıoğlu, E., and Dawson, D. M. (2008, December 9-11). Set-point navigation of a redundant robot in uncertain environments using finite range sensors. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.4739225en_US
dc.identifier.isbn9781424431243
dc.identifier.issn0191-2216
dc.identifier.urihttp://doi.org/10.1109/CDC.2008.4739225
dc.identifier.urihttp://hdl.handle.net/11147/2295
dc.description.abstractIn 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.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/CDC.2008.4739225en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectSensorsen_US
dc.subjectAsymptotic trackingen_US
dc.subjectUncertain environmentsen_US
dc.subjectKinematic controllersen_US
dc.subjectRedundant robotsen_US
dc.titleSet-point navigation of a redundant robot in uncertain environments using finite range sensorsen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journal47th IEEE Conference on Decision and Controlen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.identifier.startpage4596en_US
dc.identifier.endpage4601en_US


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