Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7819
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dc.contributor.authorUzunoğlu, Emre-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2020-07-18T03:35:12Z-
dc.date.available2020-07-18T03:35:12Z-
dc.date.issued2021-
dc.identifier.issn0263-5747-
dc.identifier.issn1469-8668-
dc.identifier.urihttps://doi.org/10.1017/S0263574720000338-
dc.identifier.urihttps://hdl.handle.net/11147/7819-
dc.description.abstractIn this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared. Copyright © The Author(s), 2020. Published by Cambridge University Press.en_US
dc.language.isoenen_US
dc.publisherCambridge University Pressen_US
dc.relation.ispartofRoboticaen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectComputed torque controlen_US
dc.subjectControl of robotic systemsen_US
dc.subjectMacro-micro manipulationen_US
dc.subjectMulti-priority controlen_US
dc.subjectRedundant manipulatorsen_US
dc.subjectRobot dynamicsen_US
dc.titleA multi-priority controller for industrial macro-micro manipulationen_US
dc.typeArticleen_US
dc.institutionauthorUzunoğlu, Emre-
dc.institutionauthorTatlıcıoğlu, Enver-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.wosWOS:000611167100003en_US
dc.identifier.scopus2-s2.0-85085752198en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1017/S0263574720000338-
dc.relation.doi10.1017/S0263574720000338en_US
dc.coverage.doi10.1017/S0263574720000338en_US
dc.identifier.wosqualityQ4-
dc.identifier.scopusqualityQ2-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.openairetypeArticle-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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