Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5836
Title: Nonlinear robust control of tendon–driven robot manipulators
Authors: Okur, Beytullah
Aksoy, Orhan
Zergeroglu, Erkan
Tatlıcıoglu, Enver
Tatlıcıoglu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Nonlinear systems
Robot manipulators
Robust control
Tendons
Industrial robots
Issue Date: Oct-2015
Publisher: Springer Verlag
Source: Okur, B., Aksoy, O., Zergeroǧlu, E., and Tatlıcıoǧlu E. (2015). Nonlinear robust control of tendon–driven robot manipulators. Journal of Intelligent and Robotic Systems: Theory and Applications, 80(1), 3-14. doi:10.1007/s10846-014-0141-7
Abstract: This work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.
URI: https://doi.org/10.1007/s10846-014-0141-7
http://hdl.handle.net/11147/5836
ISSN: 0921-0296
1573-0409
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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