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|Operational/task space learning control of robot manipulators with dynamical uncertainties
|Doğan, K. Merve
|Institute of Electrical and Electronics Engineers Inc.
|IEEE International Conference on Control Applications
|In this work, we consider the problem of operational/task space tracking control of a robot manipulator where a periodic desired end-effector pose is to be tracked. Specifically, we designed a repetitive learning controller that guarantees asymptotic end-effector tracking of periodic trajectories (with known period) while "learning" the overall uncertainties in the system dynamics. The proposed controller does not make use of the inverse kinematic formulation on the position level and the stability of the closed-loop system is guaranteed via Lyapunov based arguments. Numerical studies are conducted on a two link planar robot are presented to illustrate the performance and viability of the proposed method.
|IEEE Conference on Control and Applications (CCA)
|Appears in Collections:
|Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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