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Title: On null-space control of kinematically redundant robot manipulators
Authors: Çetin, Kamil
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Keywords: Controllers
Modular robots
Degree of freedom
Issue Date: Jan-2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Çetin, 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.2016.7810367
Abstract: In 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.
Description: 2016 European Control Conference, ECC 2016; Aalborg; Denmark; 29 June 2016 through 1 July 2016
ISBN: 9781509025916
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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