S. Murat Yesiloglu

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Kinematically deficient manipulators are those that have fewer degrees of freedom than necessary to achieve any admissible configuration in their operational space. When multiple manipulators, some or all of which are kinematically deficient, cooperate to perform a common task, the constrained forces at the contact points cannot be solved directly due to(More)
— Two-wheeled cart falls under kinematically deficient manipulator when considered from cooperating manipu-lator approach. Kinematically deficient manipulators are those that have fewer degrees of freedom than necessary to achieve any admissible configuration in their operational space. When multiple manipulators, some or all of which are kinematically(More)
A novel methodology is presented for a practical problem of balancing a round object about its contact point posing pure rolling constraint at the tip of a redundant manipulator. Two-layer controller, the objective of the first of which is to balance the object as long as the manipulator stays in a singularity-free predefined task-space, is designed. We(More)
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