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Title: Continuous robust task-space tracking control of robotic manipulators with uncertain dynamics
Authors: Çetin, Kamil
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Series/Report no.: IEEE International Conference on Control Applications
Abstract: In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller.
Description: IEEE Conference on Control and Applications (CCA)
ISBN: 978-1-4799-7787-1
ISSN: 1085-1992
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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