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Title: A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
Authors: Çobanoğlu, Necati
Çetin, Kamil
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Keywords: Robotic manipulators
Manipulator dynamics
Jacobian matrices
Task analysis
Issue Date: 2018
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Çobanoğlu, N., Çetin, K., Tatlıcıoğlu, E., and Zergeroğlu, E. (2018, June 27-29). A dynamic model free observer based output feedback tracking control of robot manipulators in task-space. Paper presented at the 2018 Annual American Control Conference, ACC 2018. doi:10.23919/ACC.2018.8431450
Abstract: This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.
Description: The Scientific and Technological Research Council of Turkey via grant number 115E726
ISBN: 9781538654286
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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