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Investigition on the Influence of Parameter Uncertainties in the Position Tracking of Robot Manipulators

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dc.contributor.author Ghanbarpour Asl, Habib
dc.contributor.author Han, Kerim Youde
dc.date.accessioned 2020-01-14T11:30:23Z
dc.date.available 2020-01-14T11:30:23Z
dc.date.issued 2019-03
dc.identifier.citation Ghanbarpour Asl, Habib; Han, Kerim Youde, "Investigition on the Influence of Parameter Uncertainties in the Position Tracking of Robot Manipulators", Tehnicki Glasnik-Technical Journal, Vol. 13, No. 1, pp. 16-24, (March 2019). tr_TR
dc.identifier.issn 1846-6168
dc.identifier.uri http://hdl.handle.net/20.500.12416/2348
dc.description.abstract This paper presents a novel trajectory tracking method for robot arms with uncertainties in parameters. The new controller applies the robust output feedback linearization method and is designed so that it is robust to the variation of parameters. Robustness of the algorithm is evaluated when the parameters of the system are floating over 10 percent up and down. An Unscented Kalman Filter (UKF) is applied for state and parameter estimation purposes. As the considered system has 8 unknown parameters while only 5 of them are independent parameters, UKF is applied only to the augmented system with independent parameters. Three types of simulations are applied depending on sensor groups - first with both position and joint sensors, second with only position sensors and third with only joint sensors. The observation of parameters in these groups is discussed. Simulation results show that when both position sensors and joint sensors are used, all the parameters and states are observable and good tracking performances are obtained. When only position sensors are used, the accuracy of the estimated parameters is reduced, and low tracking performances are revealed. Finally, when only joint sensors are applied, the lengths of robot arms are unobservable, but other parameters related to the dynamic system are observable, and poor tracking performances are given. tr_TR
dc.language.iso eng tr_TR
dc.publisher Univ North tr_TR
dc.relation.isversionof 10.31803/tg-20180921100632 tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Path Following tr_TR
dc.subject Parameter Uncertainty tr_TR
dc.subject Robot Control tr_TR
dc.subject Robust Control tr_TR
dc.subject Sensor Fusion tr_TR
dc.subject Unscented Kalman Filter tr_TR
dc.title Investigition on the Influence of Parameter Uncertainties in the Position Tracking of Robot Manipulators tr_TR
dc.type article tr_TR
dc.relation.journal Tehnicki Glasnik-Technical Journal tr_TR
dc.identifier.volume 13 tr_TR
dc.identifier.issue 1 tr_TR
dc.identifier.startpage 16 tr_TR
dc.identifier.endpage 24 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü tr_TR


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