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dc.contributor.authorCetin, Kamil
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2020-07-25T22:07:29Z
dc.date.available2020-07-25T22:07:29Z
dc.date.issued2019
dc.identifier.issn0022-0434
dc.identifier.issn1528-9028
dc.identifier.urihttps://doi.org/10.1115/1.4041008
dc.identifier.urihttps://hdl.handle.net/11147/9142
dc.descriptionWOS: 000450146300001en_US
dc.description.abstractIn 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.en_US
dc.language.isoengen_US
dc.publisherAsmeen_US
dc.relation.isversionof10.1115/1.4041008en_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.titleOn Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Termsen_US
dc.typearticleen_US
dc.relation.journalJournal Of Dynamic Systems Measurement And Control-Transactions Of The Asmeen_US
dc.contributor.departmentIzmir Institute of Technologyen_US
dc.identifier.volume141en_US
dc.identifier.issue1en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.cont.department-temp[Cetin, Kamil; Tatlicioglu, Enver] Izmir Inst Technol, Dept Elect & Elect Engn, TR-35430 Izmir, Turkey; [Zergeroglu, Erkan] Gebze Tech Univ, Dept Comp Engn, TR-41400 Gebze, Kocaeli, Turkeyen_US


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