Trajectory tracking control of a two link planar manipulator with link flexibility

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068745.pdf

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1997

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Ay, Volkan

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https://hdl.handle.net/11511/10101

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Graduate School of Natural and Applied Sciences, Thesis

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TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM 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 tracking control of robotic manipulators with flexible joints Erdağı, İnanç; İder, Kemal; Özgören, Kemal; Department of Mechanical Engineering (1995)
Trajectory tracking by means of homing guidance methods Acar, Sükrü Uğur; Özgören, Kemal; Söylemez, Eres; Department of Mechanical Engineering (1996)
Trajectory tracking control of parallel robots in the presence of joint drive flexibility Ider, S. Kemal; Korkmaz, Ozan (Elsevier BV, 2009-01-09) Trajectory tracking control of parallel manipulators is aimed in the presence of flexibility at the joint drives. Joint structural damping is also considered in the dynamic model. The system is first converted into an open-tree structure by disconnecting a sufficient number of unactuated joints. The closed loops are then expressed by constraint equations. It is shown that, in a parallel robot with flexible joint drives, the acceleration level inverse dynamics equations are singular because the control torqu...
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

V. Ay, “Trajectory tracking control of a two link planar manipulator with link flexibility,” Middle East Technical University, 1997.