Zeren, Murat2016-01-082016-01-081994http://hdl.handle.net/11693/17637Ankara : Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 1994.Thesis (Master's) -- -Bilkent University, 1994.Includes bibliographical references leaves 36-38.An 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.vii, 89 leavesEnglishinfo:eu-repo/semantics/openAccessmultiple flexible manipulatorstwo-time-scale controladaptive estimationTJ211.4 .Z47 1994Robots--Dynamics--Mathematical models.Manipulators (Mechanism)--Mathematical models.Manipulators (Mechanism)--Automatic control.Thesis