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dc.contributor.authorDoğan, Kadriye Merve
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorZergeroğlu, Erkan
dc.contributor.authorÇetin, Kamil
dc.date.accessioned2020-01-08T13:01:06Z
dc.date.available2020-01-08T13:01:06Z
dc.date.issued2018-05en_US
dc.identifier.citationDoğan, K. M., Tatlıcıoğlu, E., Zergeroğlu, E., and Çetin, K. (2018). Learning control of robot manipulators in task space. Asian Journal of Control, 20(3), 1003-1013. doi:10.1002/asjc.1648en_US
dc.identifier.issn1561-8625
dc.identifier.urihttps://doi.org/10.1002/asjc.1648
dc.identifier.urihttps://hdl.handle.net/11147/7574
dc.description.abstractTwo important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which “learns” the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.en_US
dc.description.sponsorshipTUBITAK (113E147)en_US
dc.language.isoengen_US
dc.publisherWileyen_US
dc.relation.isversionof10.1002/asjc.1648en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectLearning controlen_US
dc.subjectRobot manipulatorsen_US
dc.subjectTask space controlen_US
dc.subjectControllersen_US
dc.subjectLearning algorithmsen_US
dc.subjectRobot applicationsen_US
dc.titleLearning control of robot manipulators in task spaceen_US
dc.typearticleen_US
dc.contributor.authorID0000-0001-5623-9975en_US
dc.contributor.iztechauthorDoğan, Kadriye Merve
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.contributor.iztechauthorÇetin, Kamil
dc.relation.journalAsian Journal of Controlen_US
dc.contributor.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.volume20en_US
dc.identifier.issue3en_US
dc.identifier.startpage1003en_US
dc.identifier.endpage1013en_US
dc.identifier.wosWOS:000434052200004
dc.identifier.scopusSCOPUS:2-s2.0-85047785433
dc.relation.tubitakinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US


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