General subtask controller for redundant robot manipulators
| dc.contributor.author | Maaroof, Omar W. | |
| dc.contributor.author | Gezgin, Erkin | |
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.date.accessioned | 2017-03-22T13:40:39Z | |
| dc.date.available | 2017-03-22T13:40:39Z | |
| dc.date.issued | 2012 | |
| dc.description | 12th International Conference on Control, Automation and Systems, ICCAS 2012; Jeju; South Korea; 17 October 2012 through 21 October 2012 | en_US |
| dc.description.abstract | This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask controller is used for minimizing the total joint motion and for singularity avoidance in this study. Specifically, objective function for each subtask is formed and then the gradient of the objective function is used in the subtask controller to either minimize the joint motion or avoid singularities while tracking a given end-effector trajectory. A 7-DOF LWA4-Arm (SCHUNK) is modeled first in SolidWorks® and then converted to MATLAB® Simulink using SimMechanics CAD translator for the simulation tests of the controller. The kinematics and dynamics equations are derived to be used in the controllers and the simulation results are presented for the 7-DOF redundant robot manipulator operating in 3D space. © 2012 ICROS. | en_US |
| dc.description.sponsorship | Marie Curie International Reintegration Grant within the 7th European Community Framework Programme | en_US |
| dc.identifier.citation | Maaroof, O. W., Gezgin, E., and Dede, M. İ. C. (2012). General subtask controller for redundant robot manipulators. Paper presented at the 12th International Conference on Control, Automation and Systems, Jeju, South Korea, 17-21 October (pp. 1352-1357). Piscataway, NJ: IEEE. | en_US |
| dc.identifier.isbn | 9781467322478 | |
| dc.identifier.scopus | 2-s2.0-84872522554 | |
| dc.identifier.uri | https://hdl.handle.net/11147/5126 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | 12th International Conference on Control, Automation and Systems | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Minimizing the motion | en_US |
| dc.subject | Redundant robot manipulators | en_US |
| dc.subject | Singularity avoidance | en_US |
| dc.subject | Subtask control | en_US |
| dc.subject | Controllers | en_US |
| dc.title | General subtask controller for redundant robot manipulators | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.id | ||
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
| gdc.author.yokid | 26957 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::conference output | |
| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 1357 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 1352 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.wos | WOS:000346513400279 | |
| gdc.scopus.citedcount | 7 | |
| gdc.wos.citedcount | 4 | |
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