Kamil Cetin - Academia.edu (original) (raw)

Papers by Kamil Cetin

Sensors

This study presents an experimental robotic setup with a Stewart platform and a robot manipulator... more This study presents an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle–manipulator system (UVMS). This hardware-based emulator setup consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force/torque sensor attached to the end-effector of the robotic arm interacting with a pipe. In this setup, we use realistic underwater vehicle movements either communicated to a system in real-time through 4G routers or recorded in advance in a water tank environment. In addition, we simulate both the water current impact on vehicle movement and dynamic coupling effects between the vehicle and manipulator in a Gazebo-based software simulator and transfer these to the physical robotic experimental setup. Such a complete setup is useful to study the control techniques to be applied on the underwater robotic systems in a dry lab environment and allows us to carry out fast and numerou...

2022 International Conference on Robotics and Automation (ICRA)

Autonomous Robots

Remote manipulation plays a key role for applications in hazardous conditions, yet designing a ro... more Remote manipulation plays a key role for applications in hazardous conditions, yet designing a robust controller enabling safe interaction with unknown environment and under the influence of disturbances is a challenge. In this study, we propose effective control and optimization methods for mobile robotic manipulator systems that can increase effort transmission to a task in desired directions. The vehicle position is optimized by utilizing constrained particle swarm optimization where the objective is to enhance directional manipulability of the robotic arm within the system. A forward dynamic controller is implemented to eliminate undesired excessive motions near singular joint configurations. A reset control algorithm along with an admittance type controller are developed for stable interaction with an unknown object under environmental disturbances. The experimentally validated results show that the proposed method phase out undesired position disturbances and increase the dire...

Frontiers in Robotics and AI

The aim of this study is to design an adaptive controller for the hard contact interaction proble... more The aim of this study is to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floating robot base in an unexpected manner. The main contribution of the proposed controller is the development of the adaptive force tracking control algorithm based on switching actions between contac...

Journal of Control Engineering and Applied Informatics, Mar 26, 2021

In the passivity-based decomposing method, a bilateral tele-operation system is virtually decompo... more In the passivity-based decomposing method, a bilateral tele-operation system is virtually decomposed into 2 subsystems (shape/locked) to ensure coordination between the master and slave robots and to provide a general referenced motion of the closed-loop bilateral tele-operation along with the passivity of the master and slave robots. So far, the passivitybased decomposing methods in the literature have been studied only for the joint-space control of tele-operation systems with kinematical similar master and slave robots. In this study, a passivity-based decomposing method is proposed for operational space control of bilateral teleoperation systems with kinematic redundancy in the slave robot. The main objectives of the proposed method are to ensure operational space coordination between the robots' end-effector trajectories and to achieve a referenced general movement of the closed-loop tele-operation system. In addition, the kinematic redundancy of the slave robot, which usually complicates the control problem, is turned into an advantage, and secondary tasks are designed for the slave robot. Moreover, experiments are carried out to validate the achievement of the proposed method using a kinematical redundant tele-operation setup.

2016 European Control Conference (ECC), 2016

The problem of forward and backward time delays is significantly important for both control and f... more The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane.

2018 Annual American Control Conference (ACC), 2018

This paper addresses the output feedback endeffector position tracking control of robotic manipul... more This paper addresses the output feedback endeffector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.

In this study, we propose an optimum non-iterative algorithm for the minimum cable tension soluti... more In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.

2011 IEEE International Conference on RFID, 2011

With the spread of passive Radio Frequency Identification (RFID) systems, new applications will s... more With the spread of passive Radio Frequency Identification (RFID) systems, new applications will see the coexistence of more and more RFID readers in the same area. As for wireless devices, also RFID readers experience collisions whenever sharing the same communication channel. In this paper, an anti-collision protocol has been proposed in order to solve the reader collision problem. The aims of the proposed solution are: (1) to prevent and avoid collisions among readers; and (2) to limit the access delay of the readers on the channel, while guaranteeing them fairness with respect to the channel contention. The reader anticollision here proposed, referred as to High Fairness Reader Anti-Collision Protocol (HF-RACP), has been designed taking into account passive tags and their limitations in terms of computational and frequency selectivity capabilities. In this paper, after presenting the reader collision problem and discussing the simulation models and the evaluation methodology used...

2016 European Control Conference (ECC), 2016

In this study, we consider the null-space control problem of redundant robot manipulators. Specif... more In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.

Journal of Dynamic Systems, Measurement, and Control, 2019

In this study, an extended Jacobian matrix formulation is proposed for the operational space trac... more 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 structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

Asian Journal of Control, 2017

Two important properties of industrial tasks performed by robot manipulators, namely, periodicity... more Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which "learns" the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.

Journal of Dynamic Systems, Measurement, and Control, 2018

In this study, a continuous robust-adaptive operational space controller that ensures asymptotic ... more In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibi...

During the first phase of ISISEMD project (WP1) the user requirements analysis phase has proposed... more During the first phase of ISISEMD project (WP1) the user requirements analysis phase has proposed a list of services organized in three groups and classified as mandatory or not mandatory and leading to different user scenarios. Afterwards services were analyzed, broken down in sub-functions. The outcome of this process are further input document guiding to identify and adapt the more suitable product and solution enabled to provide the required services

2015 American Control Conference (ACC), 2015

This paper address the output feedback learning tracking control problem for robot manipulators w... more This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learningbased feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method.

2010 7th Annual IEEE Communications Society Conference on Sensor, Mesh and Ad Hoc Communications and Networks (SECON), 2010

Radio frequency identification (RFID) is a key technology for Europe. Since the initial emergence... more Radio frequency identification (RFID) is a key technology for Europe. Since the initial emergence of the technology, there has been a noticeable shift away from RFID pilot projects of the early days, towards a broad deployment of RFID in order to increase the efficiency and innovation of processes. Even though Europe is a leading player in the world of RFID

2011 IEEE International Conference on RFID, 2011

With the spread of passive Radio Frequency Identi- fication (RFID) systems, new applications will... more With the spread of passive Radio Frequency Identi- fication (RFID) systems, new applications will see the coexistence of more and more RFID readers in the same area. As for wireless devices, also RFID readers experience collisions whenever sharing the same communication channel. In this paper, an anti-collision protocol has been proposed in order to solve the reader collision problem. The

Sensors

This study presents an experimental robotic setup with a Stewart platform and a robot manipulator... more This study presents an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle–manipulator system (UVMS). This hardware-based emulator setup consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force/torque sensor attached to the end-effector of the robotic arm interacting with a pipe. In this setup, we use realistic underwater vehicle movements either communicated to a system in real-time through 4G routers or recorded in advance in a water tank environment. In addition, we simulate both the water current impact on vehicle movement and dynamic coupling effects between the vehicle and manipulator in a Gazebo-based software simulator and transfer these to the physical robotic experimental setup. Such a complete setup is useful to study the control techniques to be applied on the underwater robotic systems in a dry lab environment and allows us to carry out fast and numerou...

2022 International Conference on Robotics and Automation (ICRA)

Autonomous Robots

Remote manipulation plays a key role for applications in hazardous conditions, yet designing a ro... more Remote manipulation plays a key role for applications in hazardous conditions, yet designing a robust controller enabling safe interaction with unknown environment and under the influence of disturbances is a challenge. In this study, we propose effective control and optimization methods for mobile robotic manipulator systems that can increase effort transmission to a task in desired directions. The vehicle position is optimized by utilizing constrained particle swarm optimization where the objective is to enhance directional manipulability of the robotic arm within the system. A forward dynamic controller is implemented to eliminate undesired excessive motions near singular joint configurations. A reset control algorithm along with an admittance type controller are developed for stable interaction with an unknown object under environmental disturbances. The experimentally validated results show that the proposed method phase out undesired position disturbances and increase the dire...

Frontiers in Robotics and AI

The aim of this study is to design an adaptive controller for the hard contact interaction proble... more The aim of this study is to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floating robot base in an unexpected manner. The main contribution of the proposed controller is the development of the adaptive force tracking control algorithm based on switching actions between contac...

Journal of Control Engineering and Applied Informatics, Mar 26, 2021

In the passivity-based decomposing method, a bilateral tele-operation system is virtually decompo... more In the passivity-based decomposing method, a bilateral tele-operation system is virtually decomposed into 2 subsystems (shape/locked) to ensure coordination between the master and slave robots and to provide a general referenced motion of the closed-loop bilateral tele-operation along with the passivity of the master and slave robots. So far, the passivitybased decomposing methods in the literature have been studied only for the joint-space control of tele-operation systems with kinematical similar master and slave robots. In this study, a passivity-based decomposing method is proposed for operational space control of bilateral teleoperation systems with kinematic redundancy in the slave robot. The main objectives of the proposed method are to ensure operational space coordination between the robots' end-effector trajectories and to achieve a referenced general movement of the closed-loop tele-operation system. In addition, the kinematic redundancy of the slave robot, which usually complicates the control problem, is turned into an advantage, and secondary tasks are designed for the slave robot. Moreover, experiments are carried out to validate the achievement of the proposed method using a kinematical redundant tele-operation setup.

2016 European Control Conference (ECC), 2016

The problem of forward and backward time delays is significantly important for both control and f... more The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane.

2018 Annual American Control Conference (ACC), 2018

This paper addresses the output feedback endeffector position tracking control of robotic manipul... more This paper addresses the output feedback endeffector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.

In this study, we propose an optimum non-iterative algorithm for the minimum cable tension soluti... more In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.

2011 IEEE International Conference on RFID, 2011

With the spread of passive Radio Frequency Identification (RFID) systems, new applications will s... more With the spread of passive Radio Frequency Identification (RFID) systems, new applications will see the coexistence of more and more RFID readers in the same area. As for wireless devices, also RFID readers experience collisions whenever sharing the same communication channel. In this paper, an anti-collision protocol has been proposed in order to solve the reader collision problem. The aims of the proposed solution are: (1) to prevent and avoid collisions among readers; and (2) to limit the access delay of the readers on the channel, while guaranteeing them fairness with respect to the channel contention. The reader anticollision here proposed, referred as to High Fairness Reader Anti-Collision Protocol (HF-RACP), has been designed taking into account passive tags and their limitations in terms of computational and frequency selectivity capabilities. In this paper, after presenting the reader collision problem and discussing the simulation models and the evaluation methodology used...

2016 European Control Conference (ECC), 2016

In this study, we consider the null-space control problem of redundant robot manipulators. Specif... more In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.

Journal of Dynamic Systems, Measurement, and Control, 2019

In this study, an extended Jacobian matrix formulation is proposed for the operational space trac... more 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 structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

Asian Journal of Control, 2017

Two important properties of industrial tasks performed by robot manipulators, namely, periodicity... more Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which "learns" the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.

Journal of Dynamic Systems, Measurement, and Control, 2018

In this study, a continuous robust-adaptive operational space controller that ensures asymptotic ... more In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibi...

During the first phase of ISISEMD project (WP1) the user requirements analysis phase has proposed... more During the first phase of ISISEMD project (WP1) the user requirements analysis phase has proposed a list of services organized in three groups and classified as mandatory or not mandatory and leading to different user scenarios. Afterwards services were analyzed, broken down in sub-functions. The outcome of this process are further input document guiding to identify and adapt the more suitable product and solution enabled to provide the required services

2015 American Control Conference (ACC), 2015

This paper address the output feedback learning tracking control problem for robot manipulators w... more This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learningbased feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method.

2010 7th Annual IEEE Communications Society Conference on Sensor, Mesh and Ad Hoc Communications and Networks (SECON), 2010

Radio frequency identification (RFID) is a key technology for Europe. Since the initial emergence... more Radio frequency identification (RFID) is a key technology for Europe. Since the initial emergence of the technology, there has been a noticeable shift away from RFID pilot projects of the early days, towards a broad deployment of RFID in order to increase the efficiency and innovation of processes. Even though Europe is a leading player in the world of RFID

2011 IEEE International Conference on RFID, 2011

With the spread of passive Radio Frequency Identi- fication (RFID) systems, new applications will... more With the spread of passive Radio Frequency Identi- fication (RFID) systems, new applications will see the coexistence of more and more RFID readers in the same area. As for wireless devices, also RFID readers experience collisions whenever sharing the same communication channel. In this paper, an anti-collision protocol has been proposed in order to solve the reader collision problem. The