TY  - JOUR
T1  - Esnek Uzuvlu Bir Manipülatörde Yapay Arı Kolonisi Algoritması ile Optimize Edilen Kontrolcü Parametreleri Etkilerinin İncelenmesi
TT  - Investigation of Controller Parameters Effects for a Flexible Manipulator
AU  - Eser, Sezgin
AU  - Telli Çetin, Sevda
PY  - 2023
DA  - July
Y2  - 2022
JF  - Osmaniye Korkut Ata Üniversitesi Fen Bilimleri Enstitüsü Dergisi
JO  - Osmaniye Korkut Ata University Journal of The Institute of Science and Techno
PB  - Osmaniye Korkut Ata Üniversitesi
WT  - DergiPark
SN  - 2687-3729
SP  - 1230
EP  - 1242
VL  - 6
IS  - 2
LA  - tr
AB  - Bu çalışmanın temel amacı, esnek uzuvlu manipülatörün kontrol torku ifadesinde yer alan parametrelerin etkilerinin incelenmesidir. Çalışmada ilk olarak, esnek uzuv varsayılan modlar metodu ile modellenmiştir. Ardından, kontrol torku ifadesi sistem enerjisine bağlı olarak elde edilmiştir. Esnek manipülatör için gerçekleştirilen kontrolde amaç, uzvun istenen konuma ulaşması ve hareket sırasındaki salınımların sönümlenmesi olarak belirlenmiştir. Bu amaç doğrultusunda, tork ifadesinde yer alan katsayı parametrelerinin belirlenmesinde Yapay Arı Kolonisi (ABC) Algoritması kullanılmıştır. MATLAB ortamında gerçekleştirilen simülasyonlar literatürde ilgili tork ifadesini kullanan bir çalışma ile karşılaştırılmıştır. Son olarak tork ifadesinde yer alan tüm katsayı parametreleri için simülasyonlar tekrarlanarak ilgili parametrelerin optimizasyona dahil edilme gerekliliği incelenmiştir.
KW  - Esnek Manipülatör
KW  - optimizasyon
KW  - yapay arı kolonisi
KW  - kontrol
N2  - The main objective of this study is to examine the effects of the parameters in the control torque expression of the flexible manipulator. First, the flexible manipulator is modelled based on Assumed Mode Method. Then, the control torque expression is obtained depending on the system energy. In the control performed for the flexible manipulator, the aim is determined as achieving the position objective of the flexible manipulator and damping the oscillations during the movement. For this purpose, Artificial Bee Colony (ABC) Algorithm is performed to determine the parameters in the torque expression. The simulations performed in MATLAB are compared with a study in the literature using the related torque expression. Finally, the simulations are repeated for all coefficient parameters in the torque expression and the necessity of including the relevant parameters in the optimization was examined.
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CR  - Zhao, Z., He, X., & Ahn, C. K. (2019). Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 51(4), 2382–2390. https://doi.org/10.1109/tsmc.2019.2912900
UR  - https://dergipark.org.tr/en/pub/okufbed/issue//1138446
L1  - https://dergipark.org.tr/en/download/article-file/2517404
ER  -