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A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
(Institute of Electrical and Electronics Engineers, 2018)
This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis ...
On null-space control of kinematically redundant robot manipulators
In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce ...
Lyapunov-based output feedback learning control of robot manipulators
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for ...