Mimo and Siso Self-Tuning Hybrid Position/Force Control of Robotic Manipulators

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dc.contributor.authorÖzsoy, C.
dc.contributor.authorŞişman, T.
dc.date.accessioned2020-03-26T16:24:48Z
dc.date.available2020-03-26T16:24:48Z
dc.date.issued1994
dc.departmentSelçuk Üniversitesien_US
dc.description.abstractThe paper presents a new approach for the hybrid position/force control of a manipulator by using self- tuning regulators (STR) For this purpose, the discrete-time stochastic multi-input multi-output (MIMO) and single- input single-output (SISO) models are introduced. The MIMO model whose output vector has the positions and velocities of the gripper expressed in the world (xyz) coordinate system as the components. The SISO model outputs are the hybrid errors consisting of the derivatives of the position and force errors at the joints. The inputs of both models are the joint torques. The unknown parameters of those models can be calculated recursively on-line by the square-root estimation algorithm (SQR). An adaptive MIMO and SISO self-tuning type controllers are then designed by minimizing the expected value of a quadratic criterion. This performance index penalizes the deviations of the actual position and force path of the gripper from the desired values expressed in the Cartesian coordinate system. An integrating effect is also included in the performance index to remove the steady-state errors. Digital simulation results using the parameter estimation and the control algorithms are presented and the performances of those two controllers are discussed.en_US
dc.identifier.citationÖzsoy, C., Şişman, T., (1994). Mimo and Siso Self-Tuning Hybrid Position/Force Control of Robotic Manipulators. Journal of Robotic Systems, 13(1), 163-169. Doi: 10.1002/(SICI)1097-4563(199601)13:1<41
dc.identifier.doi10.1002/(SICI)1097-4563(199601)13:1<41en_US
dc.identifier.endpage169en_US
dc.identifier.issn0741-2223en_US
dc.identifier.issue1en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage163en_US
dc.identifier.urihttps://dx.doi.org/10.1002/(SICI)1097-4563(199601)13:1<41
dc.identifier.urihttps://hdl.handle.net/20.500.12395/16397
dc.identifier.volume13en_US
dc.identifier.wosWOS:A1996TL33600005en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorŞişman, T.
dc.language.isoenen_US
dc.publisherJohn Wiley & Sons Incen_US
dc.relation.ispartofJournal of Robotic Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectPosition/force hybrid control
dc.subjectrobotic manipulator
dc.subjectself-tuning regulators
dc.subjectmulti-input multi-output control
dc.subjectsingle-input single-output control
dc.subjectestimation
dc.titleMimo and Siso Self-Tuning Hybrid Position/Force Control of Robotic Manipulatorsen_US
dc.typeArticleen_US

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