Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9142
Title: On operational space tracking control of robotic manipulators with uncertain dynamic and kinematic terms
Authors: Çetin, Kamil
Tatlıcıoğlu, Enver
Zergeroǧlu, Erkan
Publisher: American Society of Mechanical Engineers
Abstract: In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.
URI: https://doi.org/10.1115/1.4041008
https://hdl.handle.net/11147/9142
ISSN: 0022-0434
1528-9028
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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