This study introduces a novel robust control strategy for kinematically redundant robotic manipulators, aimed at maintaining task space position errors within predefined constraints. The proposed design ensures that the tracking errors for both the end-effector’s position and sub-tasks are uniformly ultimately bounded, despite dynamic uncertainties. It also guarantees that the position error of the end-effector stays within a predetermined safe region and achieves predictable overshoot and transient performance, provided the initial error is bounded within this safe area. The incorporation of a BLF into our stability analysis is the cornerstone of our methodological advancement, which is crucial for imposing predefined constraints on task space position errors. Simulations and experiments confirm the controller’s effectiveness, showing consistent error maintenance, stability of error terms, and boundedness of closed-loop signals. Tighter constraints increased control effort but led to faster convergence and improved tracking performance.

This work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal starts within some predefined region, the proposed controller ensures that the joint tracking error signal remains inside this region and approaches to zero asymptotically. Extensive numerical simulations and experimental studies performed on a two-link direct-drive planar robot are provided in order to illustrate the effectiveness and feasibility of the proposed controller.

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 that the initial joint position tracking error starts within a predefined region, the proposed controller algorithm ensures that the joint tracking error remains inside this region and asymptotically approaches zero, despite the lack of joint velocity measurements and uncertainties associated with the system dynamics. The constraint imposed on the position tracking error term ensures predictable overshoot for the overall system and enables a predetermined transient performance. The need for the joint velocity measurements is removed via the use of a surrogate filter formulation in conjunction with the use of desired model compensation. The stability and the convergence of the closed-loop system are proved via a barrier Lyapunov function (BLF)-based argument. Extensive numerical simulations and experimental studies performed on a two-link, direct-drive robotic manipulator are provided to illustrate the feasibility and effectiveness of the proposed method.

This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint position tracking error starts within a predefined region, the proposed controller algorithm ensures that the joint tracking error remains inside this region and asymptotically approaches to zero, despite the lack of joint velocity measurements and uncertainties associated with the system dynamics. The need for the joint velocity measurements are removed via the use of a surrogate filter formulation in conjunction with the use of desired model compensation. The stability and the convergence of the closed loop system are proved via a barrier Lyapunov function based argument. A simulation performed on a two-link robotic manipulator is provided in order to illustrate the feasibility and effectiveness of the proposed method.

It was aimed to determine the influence of some organic fertilizer applications (leonardite, cattle manure, sheep manure, poultry manure) on second crops soybean’s seed yield and some quality properties with this research. Theresearch was conducted with Arısoy and Nova soybean varieties according to Stripe Plots at Randomized Complete Block design, with 8 replications at 40° 45' 48" latitude, 36° 26' 44" longitude coordinates which has partly continental climate in 2015. According to data’s variance analysis, the effect of fertilizer applications on plant height was found significant (p≤ 0.05), while on first pod height, number of pods and stem per plant, seed yield per plant, weight of 1000 seeds, biological yield, seed yield, crude oil and protein content was found unsignificant. The highest seed yield was taken from poultry manure application (4.659 ton ha-1) for Arısoy variety. The pod number per plant changed between 69.97–78.33 number plant-1. While the highest 1000 seed weight was found for poultry manure application (200 g), the lowest (183.9 g) was obtanined from inorganic ferlitizer application. As a result, it was concluded that poultry manure could be used instead of inorganic manure for high seed yield for second crop soybean cultivation in regions where shows partly continental climate characteristics, but continue similar studies would be beneficial at different locations and at years.