Motion optimization of manipulators with extra degrees of freedom.

Yahşi, Selçuk


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Korkusuz, Ertaç; Özgüven, Hasan Nevzat; Department of Mechanical Engineering (1983)
Motion Control of a Spatial Elastic Manipulator in the Presence of Measurement Noises
Kilicaslan, Sinan; İder, Sıtkı Kemal; Özgören, Mustafa Kemal (2021-07-01)
This paper presents a method for the end effector motion control of a spatial three-link robot having elastic second and third links including measurement noises. In the derivation of equations of motion, not to face with complex equations of motion, each link is modeled as though the links are not connected and the restrictions on the links due to connecting them by joints are written as constraint equations. After that the Lagrange multipliers are eliminated and the constraint equations at the acceleratio...
Motion control of constrained systems considering their actuation-related singular configurations
Özgören, Mustafa Kemal (2001-01-01)
In this paper, the constrained motion control of a normally unconstrained mechanical system is investigated. As far as its motion control is concerned, such a system will have a redundancy in its actuators due to the reduction caused in its number of degrees of freedom by the presence of the constraints. Four methods are described in order to determine the actuator and constraint forces. The first three of these methods necessitate using all the actuators and the fourth method is applicable in a case where ...
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...
Motion modelling and time-optimal trajectory planning for an industrial robot
Ütüklerli, Hüseyin; Soylu, Reşit; Department of Mechanical Engineering (1995)
Citation Formats
S. Yahşi, “Motion optimization of manipulators with extra degrees of freedom.,” Middle East Technical University, 1978.