Task space control and input time delay compensation in robotic manipulators

Input time delay is a challenge specific to many engineering systems. For example, this delay is frequently observed in master-slave robots, chemical systems, and biological systems. Communication over the network, measurement processes in sensors and system dynamics can be counted among the factors that cause input time delay. However, this delay often negatively impacts performance or reduces stability. Particularly in robotic applications, the dynamic model of a robot's manipulator is often defined in joint space, while the desired motion is usually specified in task space. The aim of this thesis, unlike many controller designs in the existing literature, is to realize the design in the task space instead of the joint space. It also aims to present a controller design that will compensate for the negative effects of input time delays. In addition, it is also aimed to design a controller that is resistant to external disturbances, recognizing that the system dynamics cannot be linearized and have uncertain parameters.