Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9142
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dc.contributor.authorÇetin, Kamil-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorZergeroǧlu, Erkan-
dc.date.accessioned2020-07-25T22:07:29Z-
dc.date.available2020-07-25T22:07:29Z-
dc.date.issued2019-
dc.identifier.issn0022-0434-
dc.identifier.issn1528-9028-
dc.identifier.urihttps://doi.org/10.1115/1.4041008-
dc.identifier.urihttps://hdl.handle.net/11147/9142-
dc.description.abstractIn this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.en_US
dc.language.isoenen_US
dc.publisherAmerican Society of Mechanical Engineersen_US
dc.relation.ispartofJournal of Dynamic Systems Measurement and Control - Transactions of The ASMEen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.titleOn operational space tracking control of robotic manipulators with uncertain dynamic and kinematic termsen_US
dc.typeArticleen_US
dc.institutionauthorÇetin, Kamil-
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.identifier.volume141en_US
dc.identifier.issue1en_US
dc.identifier.wosWOS:000450146300001en_US
dc.identifier.scopus2-s2.0-85052388289en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1115/1.4041008-
dc.relation.doi10.1115/1.4041008en_US
dc.coverage.doi10.1115/1.4041008en_US
dc.identifier.wosqualityQ3-
dc.identifier.scopusqualityQ2-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.05. 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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