Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/10063
Title: Adaptive control of redundant robot manipulators with sub-task objectives [Proceedings Paper]
Authors: Tatlıcıoğlu, Enver
Braganza, David
Burg, Timothy C.
Dawson, Darren M.
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Issue Date: 2008
Publisher: Institute of Electrical and Electronics Engineers Inc.
Series/Report no.: Proceedings of the American Control Conference
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.
Description: American Control Conference 2008
URI: https://doi.org/10.1109/ACC.2008.4586600
https://hdl.handle.net/11147/10063
ISBN: 978-1-4244-2078-0
ISSN: 0743-1619
2378-5861
Appears in Collections:WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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