Abstract: In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the ...

Abstract: This work presents the design and the corresponding stability analysis of a model-based, joint position tracking error constrained, adaptive output feedback (OFB) controller for robot manipulators. Specifically, provided ...

Abstract: In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of ...