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dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorBraganza, David
dc.contributor.authorBurg, Timothy C.
dc.contributor.authorDawson, Darren M.
dc.date.accessioned2016-11-17T14:59:49Z
dc.date.available2016-11-17T14:59:49Z
dc.date.issued2009-10
dc.identifier.citationTatlıcıoğlu, 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/S0263574708005274en_US
dc.identifier.issn0263-5747
dc.identifier.urihttp://doi.org/10.1017/S0263574708005274
dc.identifier.urihttp://hdl.handle.net/11147/2469
dc.description.abstractIn 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.language.isoengen_US
dc.publisherCambridge University Pressen_US
dc.relation.isversionof10.1017/S0263574708005274en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControllersen_US
dc.subjectAdaptive control systemsen_US
dc.subjectRedundant robotsen_US
dc.subjectRedundant manipulatoren_US
dc.subjectTracking controlleren_US
dc.titleAdaptive control of redundant robot manipulators with sub-task objectivesen_US
dc.typearticleen_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journalRoboticaen_US
dc.contributor.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.volume27en_US
dc.identifier.issue6en_US
dc.identifier.startpage873en_US
dc.identifier.endpage881en_US
dc.identifier.wosWOS:000270692200007
dc.identifier.scopusSCOPUS:2-s2.0-70450180982
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US


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