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https://hdl.handle.net/11147/7120
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Çobanoğlu, Necati | - |
dc.contributor.author | Çetin, Kamil | - |
dc.contributor.author | Tatlıcıoğlu, Enver | - |
dc.contributor.author | Zergeroğlu, Erkan | - |
dc.date.accessioned | 2019-02-20T11:12:54Z | - |
dc.date.available | 2019-02-20T11:12:54Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | 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 | en_US |
dc.identifier.isbn | 9781538654286 | - |
dc.identifier.uri | http://doi.org/10.23919/ACC.2018.8431450 | - |
dc.identifier.uri | http://hdl.handle.net/11147/7120 | - |
dc.description | The Scientific and Technological Research Council of Turkey via grant number 115E726 | en_US |
dc.description.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. | en_US |
dc.description.sponsorship | 2018 Annual American Control Conference, ACC 2018; Wisconsin Center / Hilton Milwauke City CenterMilwauke; United States; 27 June 2018 through 29 June 2018 | en_US |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
dc.relation | info:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726 | en_US |
dc.relation.ispartof | Annual American Control Conference, ACC 2018 | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Robotic manipulators | en_US |
dc.subject | Task–space | en_US |
dc.subject | Manipulator dynamics | en_US |
dc.subject | Jacobian matrices | en_US |
dc.subject | Task analysis | en_US |
dc.title | A dynamic model free observer based output feedback tracking control of robot manipulators in task-space | en_US |
dc.type | Conference Object | en_US |
dc.authorid | TR123720 | en_US |
dc.institutionauthor | Tatlıcıoğlu, Enver | - |
dc.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
dc.identifier.volume | 2018 | en_US |
dc.identifier.startpage | 2121 | en_US |
dc.identifier.endpage | 2126 | en_US |
dc.identifier.wos | WOS:000591256602031 | en_US |
dc.identifier.scopus | 2-s2.0-85052576663 | en_US |
dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
dc.identifier.doi | 10.23919/ACC.2018.8431450 | - |
dc.relation.doi | 10.23919/ACC.2018.8431450 | en_US |
dc.coverage.doi | 10.23919/ACC.2018.8431450 | en_US |
dc.identifier.wosquality | N/A | - |
dc.identifier.scopusquality | N/A | - |
item.languageiso639-1 | en | - |
item.openairetype | Conference Object | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.fulltext | With Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
crisitem.author.dept | 03.05. Department of Electrical and Electronics Engineering | - |
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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