Trajectory tracking by means of homing guidance methods

Acar, Sükrü Uğur


Trajectory tracking control of a two link planar manipulator with link flexibility
Ay, Volkan; İder, Kemal; Özgören M. Kemal; Department of Mechanical Engineering (1997)
Korkmaz, Ozan; İDER, SITKI KEMAL; Özgören, Mustafa Kemal (2016-09-01)
The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The ...
Trajectory planning and tracking for autonomous vehicles
Çiçek, Haluk Levent; Schmidt, Klaus Verner; Department of Electrical and Electronics Engineering (2022-12-27)
Finding appropriate paths is an essential issue for the development of autonomous vehicles and robots. Hereby, it has to be considered that autonomous vehicles cannot follow sharp corners, as they cannot turn on a single point. Therefore, it is important to compute smooth paths that have additional desirable properties such as minimum length and sufficient distance from obstacles. Furthermore, practical applications require the computation of such paths in real time. This thesis develops a general method...
Trajectory tracking control of robotic manipulators with flexible joints
Erdağı, İnanç; İder, Kemal; Özgören, Kemal; Department of Mechanical Engineering (1995)
Trajectory tracking control of flexible-joint robots
Ider, SK; Özgören, Mustafa Kemal (2000-07-01)
Inverse dynamics control of flexible-joint robots is addressed. It is shown that, in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because the control torques do not have an instantaneou; effect on the end-effector accelerations due to the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The trajectory tracking control law presented linear...
Citation Formats
S. U. Acar, “Trajectory tracking by means of homing guidance methods,” Middle East Technical University, 1996.