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Title: Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements
Authors: Okur, Beytullah
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Keywords: Robot manipulators
State feedback
Nonlinear control
Robotic systems
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Okur, B., Zergeroğlu, E., and Tatlıcıoğlu, E. (2015, December 15-18). Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements. Paper presented at the 54th IEEE Conference on Decision and Control, CDC 2015. doi:
Abstract: In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations.
Description: 54th IEEE Conference on Decision and Control, CDC 2015; Osaka International Convention Center (Grand Cube)5-3-51 Nakanoshima, Kita-KuOsaka; Japan; 15 December 2015 through 18 December 2015
ISBN: 9781479978861
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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