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dc.contributor.authorÇetin, Kamil
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorZergeroğlu, Erkan
dc.date.accessioned2017-10-04T08:18:10Z
dc.date.available2017-10-04T08:18:10Z
dc.date.issued2016-01
dc.identifier.citationÇetin, K., Tatlıcıoğlu, E., and Zergeroğlu, E. (2017, 29 June-1 July). On null-space control of kinematically redundant robot manipulators. Paper presented at the 2016 European Control Conference. doi:10.1109/ECC.2016.7810367en_US
dc.identifier.isbn9781509025916
dc.identifier.urihttp://doi.org/10.1109/ECC.2016.7810367
dc.identifier.urihttp://hdl.handle.net/11147/6305
dc.description2016 European Control Conference, ECC 2016; Aalborg; Denmark; 29 June 2016 through 1 July 2016en_US
dc.description.abstractIn 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 a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey (113E147)en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147en_US
dc.relation.isversionof10.1109/ECC.2016.7810367en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControllersen_US
dc.subjectManipulatorsen_US
dc.subjectModular robotsen_US
dc.subjectRobotsen_US
dc.subjectDegree of freedomen_US
dc.titleOn null-space control of kinematically redundant robot manipulatorsen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journal2016 European Control Conferenceen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.identifier.startpage678en_US
dc.identifier.endpage683en_US
dc.identifier.wosWOS:000392695300114
dc.identifier.scopusSCOPUS:2-s2.0-85015085273


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