End-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networks

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dc.authorid0000-0002-8195-621X
dc.contributor.authorÖke, Gülayen_US
dc.contributor.authorİstefanopulos, Yorgoen_US
dc.date.accessioned2015-01-15T23:00:35Z
dc.date.available2015-01-15T23:00:35Z
dc.date.issued2006-02
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Electrical-Electronics Engineeringen_US
dc.description.abstractThe basic difficulty in the control of flexible link manipulators stems from the fact that the link deflections cannot be controlled directly. Since the number of control inputs, applied by the actuators, is less than the total number of variables to be controlled, control approaches aiming at the suppression of deflections and vibrations are generally insufficient. Another possible approach is to determine new joint trajectories to minimize the error of the end-effector in the operational space. In this paper, a neural network is designed to compute incremental changes for the reference values of the joint angles to achieve successful tip tracking in the operational space. Tip position errors in the x- and y-directions are utihzed as inputs to the neural network. The cost function, which is minimized in training the neural network, is also chosen as the sum of squares of the tip position error in both directions. Joint angle control is provided by a PD controller. Simulations are carried out to evaluate the performance of the neural-network-based trajectory tracking method, and the results are depicted in both joint and operational spaces.en_US
dc.description.versionPublisher's Versionen_US
dc.identifier.citationÖke, G. & İstefanopulos, Y. (2006). End-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networks. Journal of Vibration and Control, 12(2), 101-117. doi:10.1177/1077546306059319en_US
dc.identifier.doi10.1177/1077546306059319
dc.identifier.endpage117
dc.identifier.issn1077-5463
dc.identifier.issn1741-2986
dc.identifier.issue2
dc.identifier.scopus2-s2.0-32944456825
dc.identifier.scopusqualityQ2
dc.identifier.startpage101
dc.identifier.urihttps://hdl.handle.net/11729/233
dc.identifier.urihttp://dx.doi.org/10.1177/1077546306059319
dc.identifier.volume12
dc.identifier.wosWOS:000235608900001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakScience Citation Index Expanded (SCI-EXPANDED)en_US
dc.institutionauthorİstefanopulos, Yorgoen_US
dc.language.isoenen_US
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.publisherSage Publicationsen_US
dc.relation.ispartofJournal of Vibration and Controlen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectFlexible link manipulatorsen_US
dc.subjectNeural networken_US
dc.subjectTrajectory controlen_US
dc.subjectEnd-effector positionen_US
dc.subjectStability analysisen_US
dc.subjectKinematicsen_US
dc.subjectGravityen_US
dc.subjectRobotsen_US
dc.subjectActuatorsen_US
dc.subjectComputer simulationen_US
dc.subjectControl equipmenten_US
dc.subjectEnd effectorsen_US
dc.subjectNeural networksen_US
dc.subjectTrajectoriesen_US
dc.subjectManipulatorsen_US
dc.titleEnd-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networksen_US
dc.typeArticleen_US
dspace.entity.typePublication

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