Adaptive two-time-scale position control of multiple flexible manipulators

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buir.advisorSezer, Erol
dc.contributor.authorZeren, Murat
dc.date.accessioned2016-01-08T20:12:06Z
dc.date.available2016-01-08T20:12:06Z
dc.date.issued1994
dc.descriptionAnkara : Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 1994.en_US
dc.descriptionThesis (Master's) -- -Bilkent University, 1994.en_US
dc.descriptionIncludes bibliographical references leaves 36-38.en_US
dc.description.abstractAn adaptive self-tuning control scheme is developed in the independent generalized coordinates for position control of multiple flexible manipulators. First, a suitable model is derived for multiple cooperating manipulators holding a common workpiece. Then flexibility is included in the model where each flexible link is modelled by two rigid sublinks connected by a fictitious joint. The relatively high stiffness of the flexible links is used to decompose the model into two subsystems operating at different rates, and a two-time-scale control is applied to achieve the desired position tracking. Finally adaptive estimation of the manipulator parameters is proposed to achieve a control scheme which is suitable for on-line applications.en_US
dc.description.provenanceMade available in DSpace on 2016-01-08T20:12:06Z (GMT). No. of bitstreams: 1 1.pdf: 78510 bytes, checksum: d85492f20c2362aa2bcf4aad49380397 (MD5)en
dc.description.statementofresponsibilityZeren, Muraten_US
dc.format.extentvii, 89 leavesen_US
dc.identifier.urihttp://hdl.handle.net/11693/17637
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectmultiple flexible manipulatorsen_US
dc.subjecttwo-time-scale controlen_US
dc.subjectadaptive estimationen_US
dc.subject.lccTJ211.4 .Z47 1994en_US
dc.subject.lcshRobots--Dynamics--Mathematical models.en_US
dc.subject.lcshManipulators (Mechanism)--Mathematical models.en_US
dc.subject.lcshManipulators (Mechanism)--Automatic control.en_US
dc.titleAdaptive two-time-scale position control of multiple flexible manipulatorsen_US
dc.typeThesisen_US
thesis.degree.disciplineElectrical and Electronic Engineering
thesis.degree.grantorBilkent University
thesis.degree.levelMaster's
thesis.degree.nameMS (Master of Science)

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