Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6305
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dc.contributor.authorÇetin, Kamil-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorZergeroğlu, Erkan-
dc.date.accessioned2017-10-04T08:18:10Z-
dc.date.available2017-10-04T08:18:10Z-
dc.date.issued2016-01-
dc.identifier.citationÇetin, 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.2016.7810367en_US
dc.identifier.isbn9781509025916-
dc.identifier.urihttp://doi.org/10.1109/ECC.2016.7810367-
dc.identifier.urihttp://hdl.handle.net/11147/6305-
dc.description2016 European Control Conference, ECC 2016; Aalborg; Denmark; 29 June 2016 through 1 July 2016en_US
dc.description.abstractIn 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.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey (113E147)en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147en_US
dc.relation.ispartof2016 European Control Conference, ECC 2016en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControllersen_US
dc.subjectManipulatorsen_US
dc.subjectModular robotsen_US
dc.subjectRobotsen_US
dc.subjectDegree of freedomen_US
dc.titleOn null-space control of kinematically redundant robot manipulatorsen_US
dc.typeConference Objecten_US
dc.authoridTR123720en_US
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.identifier.startpage678en_US
dc.identifier.endpage683en_US
dc.identifier.wosWOS:000392695300114en_US
dc.identifier.scopus2-s2.0-85015085273en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/ECC.2016.7810367-
dc.relation.doi10.1109/ECC.2016.7810367en_US
dc.coverage.doi10.1109/ECC.2016.7810367en_US
item.openairetypeConference Object-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
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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