Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9056
Title: An extended Jacobian-based formulation for operational space control of kinematically redundant robot manipulators with multiple subtask objectives: An adaptive control approach
Authors: Çetin, Kamil
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Issue Date: May-2019
Publisher: The American Society of Mechanical Engineers(ASME)
Abstract: In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.
URI: https://doi.org/10.1115/1.4042464
https://hdl.handle.net/11147/9056
ISSN: 0022-0434
1528-9028
0022-0434
1528-9028
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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