Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Trajectory tracking control of flexible-joint robots
Date
2000-07-01
Author
Ider, SK
Özgören, Mustafa Kemal
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
196
views
0
downloads
Cite This
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 linearizes and decouples the system and yields an asymptotically stable fourth order error dynamics for each end-effector degree of freedom. A 3R spatial robot with all joints flexible is simulated to illustrate the performance of the proposed algorithm.
Subject Keywords
Robot control
,
Flexible-joint robots
,
Inverse dynamics
,
Trajectory tracking
,
Discrete time control
,
Singular differential equations
URI
https://hdl.handle.net/11511/31418
Journal
COMPUTERS & STRUCTURES
DOI
https://doi.org/10.1016/s0045-7949(99)00183-2
Collections
Graduate School of Natural and Applied Sciences, Article
Suggestions
OpenMETU
Core
Force and motion trajectory tracking control of flexible joint robots
Ider, SK (2000-03-01)
An inverse dynamics control algorithm for constrained flexible-joint robots is developed. 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 instantaneous effect on the end-effector contact forces and 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. Joint s...
Inverse dynamics control of constrained robots in the presence of joint flexibility
Ider, SK (Elsevier BV, 1999-07-29)
An inverse dynamics control algorithm for constrained flexible-joint robots is developed. It is shown that in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because of 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 control law proposed linearizes and decouples the system and achieves simultaneous and asymptotically stable trajecto...
Motion control of flexible-link manipulators
KILIÇASLAN, SEMA; Ider, S. K.; Özgören, Mustafa Kemal (2008-12-01)
A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it, The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position meas...
DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM
Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13)
This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Ko...
The learning and use of traversability affordance using range images on a mobile robot
Ugur, Emre; Dogar, Mehmet R.; Cakmak, Maya; Şahin, Erol (2007-04-14)
We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the traversability affordance and use it to wander in a room filled with spheres, cylinders and boxes. The results showed that after learning, the robot can wander around...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. Ider and M. K. Özgören, “Trajectory tracking control of flexible-joint robots,”
COMPUTERS & STRUCTURES
, pp. 757–763, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31418.