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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 Task–space Manipulator dynamics Jacobian matrices Task analysis |
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 | URI: | http://doi.org/10.23919/ACC.2018.8431450 http://hdl.handle.net/11147/7120 |
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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