Browsing Mühendislik Fakültesi by Author "Korkmaz, Ozan"

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Hybrid force and motion control of flexible joint parallel manipulators using inverse dynamics approach

Korkmaz, Ozan; İder, Sıtkı Kemal (Taylor&Francis Ltd, 2014)

An inverse dynamics control algorithm is developed for hybrid motion and contact force trajectory tracking control of flexible joint parallel manipulators. First, an open-tree structure is considered by the disconnection ...
On the stability of inverse dynamics control of flexible-joint parallel manipulators in the presence of modeling error and disturbances

İder, Sıtkı Kemal; Korkmaz, Ozan; Denizli, Mustafa Semih (Tubitak Scientific & Technical Research Council Turkey, 2019)

Inverse dynamics control is considered for flexible-joint parallel manipulators in order to obtain a good trajectory tracking performance in the case of modeling error and disturbances. It is known that, in the absence of ...
Trajectory tracking control of an underactuated underwater vehicle redundant manipulator system

Korkmaz, Ozan; İder, Sıtkı Kemal; Özgören, M. Kemal (Wiley-Blackwell, 2016-09)

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 ...

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