Robust Motion Modification for Robot Manipulators in Constrained Environments

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dc.authoridÖztoprak, Burak/0000-0002-1992-9448;
dc.authorwosidÖztoprak, Burak/ITR-9084-2023
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorMuslu, Batin
dc.contributor.authorOztoprak, Burak
dc.contributor.authorBaran, Eray A.
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:52:11Z
dc.date.available2024-07-18T20:52:11Z
dc.date.issued2018
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description6th International Conference on Control Engineering and Information Technology (CEIT) -- OCT 25-27, 2018 -- Istanbul, TURKEYen_US
dc.description.abstractThis paper presents a controller structure for the continuous and robust modification of motion for multi body systems encountering contact with an environment during free motion. The presented algorithm relies on the reformulation of the position tracking error with a term proportional to the reaction force. With the proposed method, fusion of the position and the force controllers can be achieved which provide the robot with certain level of compliance. The derivation of the proposed method is followed by experiments made on a pantograph mechanism actuated by direct drive linear motors. The results obtained from the experiments illustrate the success of the proposed control architecture in providing a natural behavior for the robotic systems working in constrained environments.en_US
dc.description.sponsorshipYildiz Tech Univen_US
dc.description.sponsorshipIstanbul Bilgi University [2017.01.004]en_US
dc.description.sponsorshipThis study is partially supported by the Internal Research Grant 2017.01.004 of Istanbul Bilgi University.en_US
dc.identifier.isbn978-1-5386-7641-7
dc.identifier.scopus2-s2.0-85069162387en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://hdl.handle.net/11411/8543
dc.identifier.wosWOS:000491282100176en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2018 6th International Conference on Control Engineering & Information Technology (Ceit)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMotion Modificationen_US
dc.subjectConstrained Motion Controlen_US
dc.subjectForce Controlen_US
dc.subjectHybrid Controlen_US
dc.subjectDisturbance-Observeren_US
dc.subjectPosition Controlen_US
dc.subjectForce Controlen_US
dc.subjectValidationen_US
dc.titleRobust Motion Modification for Robot Manipulators in Constrained Environmentsen_US
dc.typeConference Objecten_US

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