Control Based on Feedback Linearization of a Mobile Manipulator Robot for Trajectory Tracking

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dc.contributor.authorIknı, Samir
dc.contributor.authorAchour, Abdelyazid
dc.date.accessioned2026-08-12T15:14:36Z
dc.date.issued2022
dc.departmentFırat Üniversitesi
dc.description.abstractThe use of robotic systems has now become almost necessary in various fields. Of which, the realization of any hard or dangerous place requiring an implication of manipulation and locomotion, is necessarily entrusted to a mobile manipulator. In this work, we present a control approach that ensures the stability of the system, based on the linearization of feedback. We have determined the kinematic and dynamic models in order to apply the control with a high degree of accuracy. The approach is validated by simulation tests.
dc.identifier.doi10.55525/tjst.889892
dc.identifier.endpage9
dc.identifier.issn1308-9080
dc.identifier.issn1308-9099
dc.identifier.issue1
dc.identifier.startpage1
dc.identifier.urihttps://doi.org/10.55525/tjst.889892
dc.identifier.urihttps://hdl.handle.net/11508/31251
dc.identifier.volume17
dc.language.isoen
dc.publisherFırat University
dc.publisherFırat Üniversitesi
dc.relation.ispartofTurkish Journal of Science and Technology
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_DergiPark_20260511
dc.subjectEngineering
dc.subjectMühendislik
dc.titleControl Based on Feedback Linearization of a Mobile Manipulator Robot for Trajectory Tracking
dc.typeArticle

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Turkish Journal of Science and Technology