Browsing Mechanical Engineering by Author "Sarıyıldız, E."
Now showing items 1-3 of 3
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Benchmarking torque control strategies for a torsion-based series elastic actuator
Uğurlu, Regaip Barkan; Sarıyıldız, E.; Kansızoğlu, Ahmet Talha; Özçınar, Erim Can; Coruk, Sinan (IEEE, 2022-06)The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few ... -
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Sarıyıldız, E.; Sekiguchi, H.; Nozaki, T.; Uğurlu, Regaip Barkan; Ohnishi, K. (IEEE, 2018-10)This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ... -
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Sarıyıldız, E.; Morimoto, J. (IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ...
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