Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5126
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dc.contributor.authorMaaroof, Omar W.-
dc.contributor.authorGezgin, Erkin-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2017-03-22T13:40:39Z-
dc.date.available2017-03-22T13:40:39Z-
dc.date.issued2012-
dc.identifier.citationMaaroof, 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.isbn9781467322478-
dc.identifier.urihttp://hdl.handle.net/11147/5126-
dc.description12th International Conference on Control, Automation and Systems, ICCAS 2012; Jeju; South Korea; 17 October 2012 through 21 October 2012en_US
dc.description.abstractThis 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.sponsorshipMarie Curie International Reintegration Grant within the 7th European Community Framework Programmeen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof12th International Conference on Control, Automation and Systemsen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMinimizing the motionen_US
dc.subjectRedundant robot manipulatorsen_US
dc.subjectSingularity avoidanceen_US
dc.subjectSubtask controlen_US
dc.subjectControllersen_US
dc.titleGeneral subtask controller for redundant robot manipulatorsen_US
dc.typeConference Objecten_US
dc.authoridTR26957en_US
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.startpage1352en_US
dc.identifier.endpage1357en_US
dc.identifier.wosWOS:000346513400279en_US
dc.identifier.scopus2-s2.0-84872522554en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_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.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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