Merkezi Örüntü Üreteçlerinin Robotlarda Hareket Kontrolü için Çeşitli Uygulamaları: Bir Araştırma

Yıl 2018, Cilt: 30 Sayı: 2, 277 - 294, 19.09.2018

Deniz Korkmaz Gonca Özmen Koca Cafer Bal

Öz

Bu çalışmada, hızla
gelişen robotik uygulamalarında sıklıkla kullanılan Merkezi Örüntü Üreteci
(MÖÜ) yapıları ve bu yapılar ile robotların akıllı hareket kontrolü üzerine son
20 yılda ortaya çıkan gelişmeler detaylı bir şekilde incelenmiş ve gelecekte
yapılabilecek çalışmalar ile ilgili bir ön değerlendirme sunulmuştur. Literatürde
yer alan MÖÜ kontrol modelleri ve buna bağlı farklı yapılar, tasarım ve
uygulama kolaylığı dahil olmak üzere, modellerin göreceli avantajları ve
dezavantajlarına odaklanarak gözden geçirilmiştir. Biyolojik bir sinir ağı
görevi gören MÖÜ’ler, herhangi bir geri besleme veya giriş sinyaline ihtiyaç
duymadan sürekli salınımlı, dayanıklı ve ritmik çıkışlar üretebilir. Robotik mühendisliği
çalışmalarındaki temel fikir, çok eklemli veya çok serbestlik dereceli robotların
verimli ve dayanıklı bir şekilde hareketlerinin koordinasyonunu sağlamaktır.  MÖÜ tabanlı kontrolör tasarımında ve uygulamasında
olası alternatiflerden kaynaklanan temel konular, farklı hareket kontrol
yöntemleri ve uygulamalarına ilişkin incelemeler sunulmuştur. Bu alanda
kullanılan yöntemler uygulanan robot sınıflandırmaları ile birlikte
özetlenmiştir.

Anahtar Kelimeler

Merkezi Örüntü Üreteci, Robot Uygulamaları, Akıllı Hareket Kontrolü, Biyomimetik Kontrol, Sinir Ağları

Kaynakça

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