MALZEME YÜKLEME AMAÇLI 6 EKSEN BİR ROBOT MANİPÜLATÖRÜN DİNAMİK PROGRAMLAMA İLE HAREKET OPTİMİZASYONU

Yıl 2018, Cilt: 23 Sayı: 1, 153 - 166, 24.04.2018

Aytac Goren Umut Çakır

https://doi.org/10.17482/uumfd.313881

Öz

Çevresel
kaygılarına ek olarak enerji maliyetinin artışı, günümüz dünyasında enerji
sarfiyatı önemli başlıklardan birisi haline gelmiştir. Bu bağlamda, şirketler
de enerji sarfiyatlarını ve karbon ayak izlerini düşürme yönünde araştırmalar
yapmaktadırlar. Üretim yapan bir şirket için bu konuda başarı elde etmenin  bir yöntemi verimliliklerini arttırmaktan
geçmektedir. Bu çalışmada, üretimde malzeme aktarımı görevi olan bir robot
manipülatör, bilgisayar yardımıyla modellenmeye çalışılmış, model üzerinde
dinamik programlama ile üretim kapasitesinin arttırılması, enerji sarfiyatının
düşürülmesini sağlayan sistem parametreleri ile geliştirmeler sunulmaya
çalışılmıştır.

Anahtar Kelimeler

Robot manipülatör, hareket optimizasyonu, dinamik programlama, optimal kontrol

Motion Optimization of A 6 Axes Robot Manipulator Used for Material Handling Purposes via Dynamic Programming

Öz

Due to the
increasing cost of energy besides the environmental concerns, energy
consumption is one of the hot topic in today’s world. In this context,
companies are searching for the ways to reduce their energy consumptions and
their Carbon footprint. For a manufacturing company, one method to accomplish
these is to increase their process efficiency. In this research, a production
cell which contains a robot manipulator used for material handling purposes is
tried to be modeled in computer environment, using dynamic programming over the
computer model, system parameters increasing production capacity in addition to
reducing the energy consumption and improvements depending on these are
presented.

Anahtar Kelimeler

Robot manipulator, motion optimization, dynamic programming, optimal control

Kaynakça

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